morph3: a compact-size humanoid robot system capable of acrobatic behavior

Authors: Yu Okumura; Tetsuo Tawara; Takayuki Furuta; Ken Endo; Masaharu Shimizu; Masaki Shimomura; Hiroaki Kitano

Source: Advanced Robotics, Volume 18, Number 7, 2004 , pp. 699-710(12)

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Abstract:

morph3 is a compact-size humanoid robot that is able to generate acrobatic motions such as somersaults and gymnastic motion. A new mechanism and control system, i. e. a real-time joint compliance control system and tactile sensing shells on its body, make acrobatic motion possible. In this paper, the design concepts and construction of morph3 are described.

Keywords: ROBOCUP; HUMANOID; ZMP COMPENSATION; BIPED LOCOMOTION; WHOLE BODY MOTION

Document Type: Research article

DOI: http://dx.doi.org/10.1163/1568553041719447

Publication date: 2004-08-01