Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture

Tetsuya Taira; Nobuyuki Yamasaki

doi:10.20965/jrm.2005.p0236

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JRM Vol.17 No.3 pp. 236-247

doi: 10.20965/jrm.2005.p0236

(2005)

Paper:

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Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture

Tetsuya Taira, and Nobuyuki Yamasaki

School of Science for Open and Environmental Systems, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama City, Kanagawa 223-8522, Japan

Received:

October 18, 2004

Accepted:

April 22, 2005

Published:

June 20, 2005

Keywords:

robot architecture, reconfigurable modular humanoid robot, modular robot, reconfigurable mechanism

Abstract

This paper describes the development of a modular humanoid robot based on our proposed functionally distributed modular robot architecture. Our proposed architecture features three key concepts, 1) a modular humanoid robot, 2) a functionally distributed module, and 3) a transparent layered software model. Our humanoid robot is designed as a modular robot system consisting of several functionally distributed modules with exclusive mechanical parts, electronic parts, and software for elemental functions such as leg, arm, and vision. Depending on many purposes of researchers and users, our humanoid robot can be used as some kinds of humanoid robots or several autonomous robots, e.g., a wheel robot, an arm robot, or a head robot. We developed the prototype modular humanoid robot consisting of five functionally distributed modules such as two arm modules, a wheel module, a head module, and a main module for evaluating our proposed architecture.

Cite this article as:

T. Taira and N. Yamasaki, “Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture,” J. Robot. Mechatron., Vol.17, No.3, pp. 236-247, 2005.

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References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Kagami, K. Nishiwaki, J. Kuffner, Y. Kuniyoshi, M. Inaba, and H. Inoue, “Online 3D Vision, Motion Planning and Bipedal Locomotion Control Coupling System of Humanoid Robot: H7,” In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2557-2562, 2002.

[2] [2] T. Kanda, H. Ishiguro, T. Ono, M. Imai, and R. Nakatsu, “Development and Evaluation of an Interactive Humanoid Robot “Robovie”,” In Proc. of IEEE International Conference on Robotics and Automation, 2002

[3] [3] K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota, and T. Isozumi, “Design of Prototype Humanoid Robotics Platform for HRP,” In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2431-2436, 2002.

[4] [4] V. Yodaiken, and M. Barabanov, “RT-Linux,”
http://www.rtlinux.org

[5] [5] Y. Ishiwata, and T. Matsui, “Development of Linux which has Advanced Real-Time Processing Function,” In Proc. 16th Annual Conference of Robotics Society of Japan, pp. 355-356, 1998.

[6] [6] R. Bischoff, and V. Graefe, “Integrating, Vision, Touch and Natural Language in the Control of a Situation-Oriented Behavior-Based Humanoid Robot,” In Proc. of IEEE International Conference on Systems, Man, and Cybernetics, pp. 999-1004, 1999.

[7] [7] Bosch, “CAN specification version 2.0,” Published by Robert Bosch GmbH, September 1991.

[8] [8] Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, “The intelligent ASIMO: System Overview and Integration,” In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2478-2483, 2002.

[9] [9] T. Fukuda, and Y. Kawauchi, “Cellular Robotic System (CEBOT) as One of the Realization of Self-Organizing Intelligent Universal Manipulator,” In Proc. of IEEE International Conference on Robotics and Automation, pp. 662-667, 1990.

[10] [10] S. Murata, E. Yoshida, K. Tomita, H. Kurokawa, A. Kamimura, and S. Kokaji, “Hardware design of modular robotic system,” In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2210-2217, 2000.

[11] [11] M. Fujita, and K. Kageyama, “An Open Architecture for Robot Entertainment,” In Proc. of International Conference on Autonomous Agents, pp. 435-442, 1997.

[12] [12] M. Fujita, H. Kitano, and K. Kageyama, “A Reconfigurable Robot Platform,” Robotics and Autonomous, Vol.29, pp. 119-132, 1999.

[13] [13] http://www.renesas.com/

[14] [14] http://www.necel.com/

[15] [15] N. Yamasaki, “Responsive Processor for Parallel/Distributed Real-Time Control,” In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1238-1244, Oct. 2001.

[16] [16] http://www.itscj.ipsj.or.jp/ipsj-ts/02-06/toc.htm

[17] [17] http://www.flexray-group.com/

[18] [18] T. Taira, and N. Yamasaki, “Functionally Distributed Control Architecture for Autonomous Mobile Robots,” Journal of Robotics and Mechatronics, Vol.16, No.2, pp. 217-224, 2004.

[19] [19] H. Kobayashi, and N. Yamasaki, “RT-Frontier: A Real-Time Operating System for Practical Imprecise Computation,” In Proc. of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium, pp. 255-264, May 2004.