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Elements of humanoid robot technology

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4 Author(s)
Sugihara, T. ; Dpt. of Mechano-Informatics, Tokyo Univ., Japan ; Yamane, K. ; Okada, M. ; Nakamura, Y.

This paper introduces elemental approaches devised in our group to tackle both mathematical and technical key issues on the realization of sophisticated humanoid robots. Substantial difference of humanoids from industrial arms in terms of kinetics lies on a large number of degrees-of-freedom and discontinuity with collision and contact. Our innovations against them cover particular methods of body design, kinetics computation and motion control.

Published in:

Robotics and Automation, 2004. TExCRA '04. First IEEE Technical Exhibition Based Conference on

Date of Conference:

18-19 Nov. 2004