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Development of a humanoid robot CENTAUR-design, human interface, planning and control of its upper-body

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6 Author(s)
Munsang Kim ; Advanced Robotics Res. Centre, Korea Inst. of Sci. & Technol., Seoul, South Korea ; Sungchul Kang ; Sooyong Lee ; Woojin Chung
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A humanoid robot system called CENTAUR is presented including its mechanical structure, human interface, vision-based motion planning algorithm and embedded real-time controller. All of these subsystems are integrated to enable the robot to perform a variety of tasks with intelligence, sensing and actuation. CENTAUR consists of two arms, two hands, four legs. In addition to its human-like kinematic structure, it also has a stereo vision system for object recognition and a voice recognition/synthesis for human interface. The trajectories are generated from an online motion planner integrated with vision as well as an off-line motion planner. A new master arm is developed for the operators to drive CENTAUR. The master arm is equipped with electric brakes for force feedback. Due to the large number of joints, a multi-layered controller structure has been developed from the low level distributed joint controllers to the high level supervisory controller

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Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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