Hardware design of high performance miniature anthropomorphic robots

Authors:
Tomomichi Sugihara;Kou Yamamoto;Yoshihiko Nakamura
Affiliations:
School of Information Science and Electrical Engineering, Kyushu University, 744, Moto'oka, Nishi-ku, Fukuoka, 819-0395, Japan;School of Information Science and Technology, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan;School of Information Science and Technology, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
Venue:
Robotics and Autonomous Systems
Year:
2008

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Abstract

Technical issues in designing reliable high-performance miniature humanoid robots are discussed. Although the light-weight and small-size body of such a humanoid robot facilitates safer and smoother experiments of agile motions involving large accelerations and impacts, building a complex humanoid system in a small body is still a challenging problem. Simultaneous requirements for wider motion ranges, higher rigidity, less fragile electric devices and circuits, and less sensitive electric wiring should be satisfied in a limited space. In order to meet them by overcoming the difficulties, we propose to mechanically modularize joint structures, and to equip a centralized electric control unit involving PC boards, sensing devices, signal-processors, communication boards, and power amplifiers. The developments of the mechanical modules and the centralized unit are made for two miniature humanoid robots.