Design and implementation of a 35 d.o.f. full-body humanoid that can sit, stand up and grasp an object

摘要

We present a 35 d.o.f. humanoid which can perform a reach-and-grasp motion through coordinating legs and arms. The humanoid robot is designed to be a research testbed to integrate research tools. Each leg and arm has 6 d.o.f. The neck has 3 d.o.f. Each hand has 4 d.o.f. The key idea of the system architecture is a remote-brained approach. In this paper we describe the design concept and the details of the system, and introduce an experiment in which the robot reaches and grasps an object on a table through coordinating legs and arms.