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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, 2002Accepted:August 26, 2002Published: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:K. Suzuki, R. Hikiji, and S. Hashimoto, “Development of an Autonomous Humanoid Robot, iSHA, for Harmonized Human-Machine Environment,” J. Robot. Mechatron., Vol.14 No.5, pp. 497-505, 2002.Data files:
Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
