TY - JOUR
T1 - Development of a high-performance upper-body humanoid system
AU - Nagakubo, Akihiko
AU - Kuniyoshi, Yasuo
AU - Cheng, Gordon
PY - 2000
Y1 - 2000
N2 - This paper presents the hardware of the upper body of the ETL-Humanoid system. It has 24 degrees of freedom with high performance actuators, which gives the system high mobility, such as is required for push-ups, lifting itself or another person. The mechanical design is able to achieve human proportion, with smooth outer shape, and is light weight at a very high level, considering the high motor performance embedded inside. Custom compact electronics for AC servo control and fast embedded network for control and measurement was also developed. The system is still evolving, being used as a working testbed for versatile human interaction experiments.
AB - This paper presents the hardware of the upper body of the ETL-Humanoid system. It has 24 degrees of freedom with high performance actuators, which gives the system high mobility, such as is required for push-ups, lifting itself or another person. The mechanical design is able to achieve human proportion, with smooth outer shape, and is light weight at a very high level, considering the high motor performance embedded inside. Custom compact electronics for AC servo control and fast embedded network for control and measurement was also developed. The system is still evolving, being used as a working testbed for versatile human interaction experiments.
UR - http://www.scopus.com/inward/record.url?scp=0034446274&partnerID=8YFLogxK
U2 - 10.1109/IROS.2000.895198
DO - 10.1109/IROS.2000.895198
M3 - Article
AN - SCOPUS:0034446274
SN - 2153-0858
VL - 3
SP - 1577
EP - 1583
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
ER -