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Design and implementation of software research platform for humanoid robotics: H6

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6 Author(s)
S. Kagami ; Dept. of Mech.-Inf., Tokyo Univ., Japan ; K. Nishiwaki ; T. Sugihara ; J. J. Kuffner
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The H6 humanoid robot has been developed as a platform for the research on perception-action coupling in intelligent behaviour of humanoid type robots. The H6 features: 1) a body which has enough DOFs and each joint has enough torque for full body motion; 2) a PC/AT compatible high-performance on-board computer which is controlled by RT-Linux so that from low-level to high-level control is achieved simultaneously; 3) self-contained and connected to a network via radio Ethernet; and 4) dynamic walking trajectory generation, motion planning and 3D vision functions are available. The H6 can be used as a common test-bed in experiment for various aspects of intelligent humanoid robotics.

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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:3 )

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