Small Biped Entertainment Robot Research Articles

1P2-S-052 ソニー株式会社と山口仁一の小型2足歩行エンタテインメントロボット運動制御特許技術(ヒューマノイド2,生活を支援するロボメカ技術のメガインテグレーション)

1P2-S-052 ソニー株式会社と山口仁一の小型2足歩行エンタテインメントロボット運動制御特許技術(ヒューマノイド2,生活を支援するロボメカ技術のメガインテグレーション)

Sensor system of a small biped entertainment robot

SDR-4X II is the latest prototype model of a small biped entertainment robot. It is the improved model of SDR-4X. In this paper we report on the sensing system of this robot, which is important and essential for a small biped entertainment robot which will be used in the home environment. One technology is the design of the motion sensing system, i.e. the inclination sensor system and the force sensor system which obtains the inclination of the trunk and the foot with force. Another technology is the real-world sensing system. One aspect is the touch sensing system. The robot is used in a normal home environment, so we should strongly consider the safety aspects for human. Another is the vision sensor system. The configuration and the distance image acquisition are explained. Next is the audio sensor system which obtains the sound and the voice information. The hardware system and the direction recognition are explained. These sensing systems are the key to making the biped robot walking and dynamic motion highly stable, and understanding the real-world around the robot.

Special Issue on Toward Establishment of Entertainment and Amusement Machine Technology

Special Issue on Toward Establishment of Entertainment and Amusement Machine Technology

A Small Biped Entertainment Robot

We propose a small biped entertainment robot prototype, Sony Dream Robot (SDR-3X) that realizes Motion Entertainment by entertaining people with its controlled dynamic motion performance. New key technologies developed for SDR-3X include the Intelligent Servo Actuator (ISA), the trine-actuator composed of a motor a built-in controller and a gear Another technology is Whole Body Coordinated Dynamic Motion Control. Both technologies realize dynamic, stable motion performance in dynamic biped walking, gymnastic motions and dancing. Human-rohot interactive performances are also described in this paper.