TY - JOUR
T1 - Motion generation of the autonomous robot based on body structure
AU - Ogata, Tetsuya
AU - Komiya, Takaaki
AU - Sugano, Shigeki
PY - 2001/1/1
Y1 - 2001/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2001.976419
DO - 10.1109/IROS.2001.976419
M3 - Article
AN - SCOPUS:0035559168
SN - 2153-0858
VL - 4
SP - 2338
EP - 2343
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
ER -