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JRM Vol.14 No.5 pp. 497-505
doi: 10.20965/jrm.2002.p0497
(2002)

Paper:

Development of an Autonomous Humanoid Robot, iSHA, for Harmonized Human-Machine Environment

Kenji Suzuki, Riku Hikiji and Shuji Hashimoto

Humanoid Robotics Institute, Waseda University, 17 Kikuicho, Shinjuku-ku, Tokyo, 162-0044 Japan

Received:
April 6, 2002
Accepted:
August 26, 2002
Published:
October 20, 2002
Keywords:
autonomous humanoid robot, harmonized human-machine environment, multimodal human-machine interaction, human-cooperative robots, network robotics
Abstract

Our research aim is to build a harmonized humanmachine environment where people and machines can interact with each other naturally, seamlessly, and intuitively. Based on the sketched scenario, we have developed a humanoid robot, iSHA (interactive Systems for Humanoid Agent), designed to behave like and interact with people. We implemented an intelligent robotic architecture that integrates goal-oriented subsystems by taking into consideration the flexibility and scalability of the system. iSHA has an upper body resembling a human in shape and a mobile base with two wheels. The upper body with a head and two arms has 24 DOF. Two wheels equipped under the body provide safe and robust locomotion. Each eye equipped with a small CCD camera, small microphones built into the head, and touch sensory devices on the body respectively provide the robot with binocular vision, auditory and touch sensing ability.

Cite this article as:
Kenji Suzuki, Riku Hikiji, and Shuji Hashimoto, “Development of an Autonomous Humanoid Robot, iSHA, for Harmonized Human-Machine Environment,” J. Robot. Mechatron., Vol.14, No.5, pp. 497-505, 2002.
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