Design and Development of Biped Humanoid Robot, AMI2, for Social Interaction with Humans

摘要

The aim of this study is to design and implement a biped humanoid robot which can interact with humans. The developed robot consists of a self-contained body, head, two arms, with a two legged (biped) mechanism. Its control hardware includes vision and speech capabilities and various control boards such as motion controllers, with a signal processing board for several types of sensors. Using the developed robot, biped locomotion study and social interaction research were concurrently carried out. The developed robot can perform various movements with its two arms, and can track an object and a face using its active vision system. It is also able to perform emotional communications with human while it is walking