LOCOMOTION
morph3: a compact-size humanoid robot system capable of acrobatic behavior
Y. Okumura, T. Tawara, T. Furuta, Ken Endo, Masaharu Shimizu, Masaki Shimomura, Hiroaki Kitano
- Year
- 2004
- Citations
- 7
Abstract
Abstract morph3 is a compact-size humanoid robot that is able to generate acrobatic motions such as somersaults and gymnastic motion. A new mechanism and control system, i. e. a real-time joint compliance control system and tactile sensing shells on its body, make acrobatic motion possible. In this paper, the design concepts and construction of morph3 are described. Keywords: ROBOCUPHUMANOIDZMP COMPENSATIONBIPED LOCOMOTIONWHOLE BODY MOTION
Keywords
Humanoid robotMotion (physics)Mechanism (biology)Motion controlSimulationComputer scienceRobotEngineeringArtificial intelligencePhysics
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