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Development of a CORBA-based Humanoid Robot and its Applications InTech
Yasuo Nasu; Genci Capi; Hanafiah Yussof; Mitsuhiro Yamano; Masahiro Ohka.
We have developed anthropomorphic prototype humanoid robot; Bonten-Maru I and Bonten-Maru II. The Bonten-Maru humanoid robot series are one of few research prototype humanoid robots in the world which can be utilized in various aspects of studies. In this research, we utilized the Bonten-Maru in development of the CORBA-based humanoid robot control architecture, the optimal gait strategy and the teleoperation via internet. 7.1 CORBA-Based Humanoid Robot Control Architecture (HRCA) In this section, we proposed a new robot control architecture called HRCA. The HRCA is developed as a CORBA client/server system and is implemented on the Bonten-Maru I humanoid robot. The HRCA allows easy addition, deletion, and upgrading of new modules. We have carried out...
Tipo: 6 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/development_of_a_corba-based_humanoid_robot_and_its_applications
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Multicriteria Optimal Humanoid Robot Motion Generation InTech
Genci Capi; Yasuo Nasu; Mitsuhiro Yamano; Kazuhisa Mitobe.
This paper proposed a new method for humanoid robot gait generation based on several objective functions. The proposed method is based on multiobjective evolutionary algorithm. In our work, we considered two competing objective functions: MCE and MTC. Based on simulation and experimental results, we conclude: Multiobjective evolution is efficient because optimal humanoid robot gaits with completely different characteristics can be found in one simulation run. The nondominated solutions in the obtained Pareto-optimal set are well distributed and have satisfactory diversity characteristics. The optimal gaits generated by simulation gave good performance when they were tested in the real hardware of "Bonten-Maru" humanoid robot. The optimal gait reduces the...
Tipo: 9 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/multicriteria_optimal_humanoid_robot_motion_generation
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