A Small Biped Entertainment Robot
Yoshihiro Kuroki*, Tatsuzo Ishida*, Jin-ichi Yamaguchi**, Masahiro Fujita* and Toshi T. Doi*
*Digital Creatures Laboratory, Sony Cororation, 6-7-35 Kitashinagawa Shinagawa-ku, Tokyo, 141-0001 Japan
**Tama Research Institute, 5-14-38 Tamadaira, Hino-shi Tokyo, 191-0062 Japan
We propose a small biped entertainment robot prototype, Sony Dream Robot (SDR-3X) that realizes Motion Entertainment by entertaining people with its controlled dynamic motion performance. New key technologies developed for SDR-3X include the Intelligent Servo Actuator (ISA), the trine-actuator composed of a motor a built-in controller and a gear Another technology is Whole Body Coordinated Dynamic Motion Control. Both technologies realize dynamic, stable motion performance in dynamic biped walking, gymnastic motions and dancing. Human-rohot interactive performances are also described in this paper.
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