This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved fo r 4 years, as uimed at the realization of the lower part of a n anthropomorphic biped robot. The project couers mechanical design, control studies and computer architecture integration. The robot includes two legs, two feet, a pelvis and U trunk. It has 15 active joints. The mass d...

This paper details the hardware, software, and electrical design of the humanoid robot family, DARwIn (Dynamic Anthropomorphic Robot with Intelligence) – a robot family designed as a platform for researching bipedal motions. The DARwIn family was the first US entry into the humanoid division of RoboCup.

Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how...

Dynamical bipedal walking has been a key objective in robotics since its origins, due to the human curiosity about artificial anthropomorphic beings which gave rise to the robot concept itself [Capek 1973]. As could be seen in most industrialized countries, the industrial manipulators have found a wide adoption, and there is little space to a major boost in the area [Yonemoto et al. 1985]. Alth...

We present an architecture to generate behavior for an anthropomorphic robot. The goal is to equip the robot with the capacity to interact with a human. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic design of our robot and present a distr...

Natural speech interaction is a difficult, yet important, capability for a social humanoidal robot. We address the problems of spontaneous speaking style in a real environment and report on our progress of developing a robust large vocabulary speech recognition engine for an anthropomorphic entertainment robot SDR-4X.

This paper describes the hardwareand software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot . This so-called is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration ...

The research of the anthropomorphic flutist robot at Waseda University, for more than ten years, has focused on reproducing as best as possible the human organs physiology involved on the human flute playing to clarify this mechanism from an engineering point of view. This research is based on the need to develop useful robots for practical uses in the human living environment. As a result of o...