Abstract
The paper describes the humanoid robot “H6”, which was designed to serve as a platform for experimental research on the development of advanced humanoid-type robots. The key features of the design of H6 include: 1) complete, 35-DOF human-shaped body with joints having sufficient torque to support full-body motion, 2) high-performance PC/AT compatible on-board computer running RT-Linux, a real-time OS that facilitates simultaneous low-level and high-level control, 3) fully self-contained on-board power supply and wireless network conrection, that allows remote operation via radio ethernet, 4) software for dynamic walking trajectory generation, motion planning, and 3D stereo vision. We give an overview of both the hardware and software design components of H6, and discuss some experimental results involving remote operation.
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Kagami, S., Nishiwaki, K., Kuffner, J.J., Sugihara, T., Inaba, M., Hirochika, I. (2001). Design, Implementation, and Remote Operation of the Humanoid H6. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_5
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DOI: https://doi.org/10.1007/3-540-45118-8_5
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