カトウ　ケイスケ   KATO Keisuke   加藤　恵輔    所属   明治大学  理工学部    職種   専任准教授
発表年月日	2004/04/27
発表テーマ	Motion evaluating system for a small biped entertainment robot
会議名	ICRA2004
主催者	IEEE Robotics and Automation Society
学会区分	国際学会
発表形式	口頭（一般）
単独共同区分	共同
開催地名	NEW ORLEANS, US
発表者・共同発表者	Y. Kuroki, K. Kato, K. Nagasaka
概要	We have been developing a small biped entertainment robot and expanding its capabilities for adaptability and mobility in the home environment with enhanced core technologies. Conspicuous enhancements are a new robot actuator, ISA and Real-time Integrated Adaptive Motion Control System as a comprehensive motion control for SDR to realize the dynamic and smooth/elegant motion performances. In order to evaluate the basic motion control capabilities we propose a new motion evaluating system for a small biped entertainment robot. The system is composed of the SDR Motion Base and the control system. We have developed a serial-parallel hybrid type mechanism to apply for the basic experiment of SDR's motion control capabilities. We discuss the design concept of the motion evaluating system and the experimental method using the proposed Motion Base.