morph3: a compact-size humanoid robot system capable of acrobatic behavior

摘要

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