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This paper describes the design and implementation of reconfigurable modular humanoid robot architecture. Our proposed architecture features three key concepts: 1) a reconfigurable mechanical structure; 2) a layered software model; and 3) an end-to-end real-time communication mechanism. Our proposed reconfigurable modular humanoid robot consists of several(More)
This paper describes the design and implementation of functionally distributed control architecture for real-time control of robot systems. Robot systems must control several functions in parallel for decision, action, and recognition. In order to fulfill this requirement , we propose the architecture based on par-allel/distributed control. The robot system(More)
Generating a map of the working environment is very important for autonomous mobile robots. This paper describes a map generation system of an unknown environment by using movable infrared sensors. An infrared sensor is horizontally rotated to get wide-area information, and the environmental map is generated from the information. The map is modeled as grid(More)
This paper describes the modular robot arm which adapts a humanoid to various tasks required in actual environment. Our modular robot arm achieves high performance without improving athletic ability, and decentralize a processing to FPGA which embedded in each module. Since additional circuits that implemented in the module controller holds down a frequency(More)
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