Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body

Munsang Kim, Sungchul Kang, Sooyong Lee, Woo Jin Chung, Kyoungrae Cho, Chong Won Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A humanoid robot system called CENTAUR is presented in this paper including its mechanical structure, human interface, vision-based motion planning algorithm and embedded real-time controller. All of these subsystems are integrated to enable the robot to perform a variety of tasks with intelligence, sensing and actuation. CENTAUR consists of two arms, two hands, four legs. In addition to its human-like kinematic structure, it also has a stereo vision system for object recognition and a voice recognition/synthesis for human interface. The trajectories are generated from on-line motion planner integrated with vision as well as off-line motion planner. A new masterarm is developed for the operators to drive CENTAUR. The masterarm is equipped with electric brakes for force feedback. Due to the large number of joints, multi-layered controller structure has been developed from the low level distributed joint controllers to the high level supervisory controller. Not only its resemblance to a human, but also intelligence shows a prototype of the humanoid robot.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE
Volume4
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

Other

Other1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'
CityTokyo, Jpn
Period99/10/1299/10/15

Fingerprint

Robots
Planning
Controllers
Electric brakes
Stereo vision
Object recognition
Motion planning
Speech recognition
Kinematics
Trajectories
Feedback

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Kim, M., Kang, S., Lee, S., Chung, W. J., Cho, K., & Lee, C. W. (1999). Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 4). IEEE.

Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body. / Kim, Munsang; Kang, Sungchul; Lee, Sooyong; Chung, Woo Jin; Cho, Kyoungrae; Lee, Chong Won.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4 IEEE, 1999.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kim, M, Kang, S, Lee, S, Chung, WJ, Cho, K & Lee, CW 1999, Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 4, IEEE, 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics', Tokyo, Jpn, 99/10/12.
Kim M, Kang S, Lee S, Chung WJ, Cho K, Lee CW. Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4. IEEE. 1999
Kim, Munsang ; Kang, Sungchul ; Lee, Sooyong ; Chung, Woo Jin ; Cho, Kyoungrae ; Lee, Chong Won. / Development of a humanoid robot CENTAUR - design, human interface, planning and control of its upper-body. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4 IEEE, 1999.
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