仿人机器人Saika的研制

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.655103

A. Konno, K. Nagashima, Ryouta Furukawa, K. Nishiwaki, T. Noda, M. Inaba, H. Inoue

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引用次数: 41

摘要

本文介绍了一种名为Saika的轻量级、人形大小和低成本的人形机器人的开发。Saika有一个2自由度的脖子，两个5自由度的上臂，一个躯干和一个头部。发育了几种类型的手和前臂。他们的选择取决于要执行的任务。Saika的特点是:(a) Saika是模块化的，降低了开发成本，便于维护;(b)头部，颈部，两个上臂和躯干的总重量仅为8公斤;(c)大部分电机安装在手臂和躯干内部。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a humanoid robot Saika

This article addresses the development of a light-weight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika as modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the head, the neck, the two upper arms and the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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