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Developmental methodology for building whole body humanoid system
Description
In this paper, a developmental construction methodology for a humanoid robot system is proposed. "Developmental" means that a versatile robot system is inherently a target to be developed incrementally, repetitively with inheriting results of former generations. Based on this methodology, the developmental system consists of (1) the hardware independent robot model for a skill development, (2) an action space representation for a functional development and (3) a robot body which has an onbody network for a physical development. On this system, five humanoid robots have been developed and locomotion behaviors have been realized.
Journal
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- Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289) 2 1210-1215, 2003-01-20
IEEE
