Motion generation of the autonomous robot based on body structure

Tetsuya Ogata, Takaaki Komiya, Shigeki Sugano

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This study aims to investigate the intelligence which can make robots adapt to the human environment. This paper points out the problems of the behavior-based robot, and proposes the methods which can generate whole body motions based on body structure and integrates the reflection motions to make the behaviors continuous. The motion performances are compared in two kinds of environments, such as a dynamic environment and a static environment, by using a simulator of the autonomous robot WAMOEBA-2Ri developed in this research. Finally, we show that the integration parameters of the proposal method reflect the body structure of the robot and environmental structures.

Original languageEnglish
Pages (from-to)2338-2343
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 2001 Jan 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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