Morph: A Desktop-Class Humanoid Capable of Acrobatic Behavior

摘要

A desktop class humanoid robot, morph3, developed for humanoid robotics is described. Consideration to body form is given in order to appeal to a general audience. 138 sensors such as accelerometers, rate gyros, pressure sensors, and force sensors are mounted on morph3. We describe the electrical network which is utilized on-board the humanoid body, and describe some advantages of the system. Actual dynamical behavior such as walking, turning, and motions using the whole-body is performed on the humanoid robot.