Remote-Brained Robots

Illustrated Reference Book of Humanoid Robots

Igoid

This robot is called Igoid. This full-body humanoid has 35 D.O.F, and is 68cm tall, 36.5cm wide, and 6.6Kg weight. The robot has a CCD camera with a stereo viewer, two sound sensors, and a tactile sensor suit that covers the entire body. It is used for research on sensor-based reactive behaviors in touching, making sound, tracking a moving object, sensing his own body and so on.

Experiments of Igoid

Catch a can with full-body movement.

React to touch

Look at the direction of sound

Catch a box using its torque data of the wrists

Takashi Igarashi, Masayuki Inaba, Hirochika Inoue
Development of 35-DOF Human-formed Robot
Proc. 12th Annual Conference of Robotcs Society of Japan, 1994, pp309-310

Masayuki INABA, Takashi IGARASHI, Tatsuo NINOMIYA, Satoshi KAGAMI, and Hirochika INOUE
The development of vision based behavior coordinated arms and legs on the 35 DOF Humanoid robot
Proc. 13th Annual Conference of Robotcs Society of Japan, pp. 1093-1094, 1995.

M.Inaba, T.Igarashi, S.Kagami, and H.Inoue.
A 35 DOF Humanoid that can Coordinate Arms and Legs in Standing up, Reaching and Grasping an Object.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 29-36, 1996.

M.Inaba, Y.Hoshino, K.Nagasaka, T.Ninomiya, S.Kagami, and H.Inoue.
A Full-Body Tactile Sensor Suit Using Electrically Conductive Fabric and Strings.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 450-457, 1996.

Masayuki INABA, Yukiko HOSHINO, Tatsuo NINOMIYA, Satoshi KAGAMI, and Hirochika INOUE
Development of a Full-Body Humanoid Wearing Tactile Sensor Suit
JSME Annual Conference on Robotics and Mechatronics(ROBOMEC '96), pp. 129-132, 1996.

Yukiko HOSHINO, Tatsuo NINOMIYA, Satoshi KAGAMI, Masayuki INABA and Hirochika INOUE
Full-body Humanoid's Sensing and Action Control using Vision, Sound and Tactile Sensor Suit
Proc. 14th Annual Conference of Robotics Society of Japan , pp. 697-698, 1996.

Masayuki INABA, Tatsuo NINOMIYA, Yukiko HOSHINO,
Kenichiro NAGASAKA, Satoshi KAGAMI and Hirochika INOUE,
A Remote-Brained Full-Body Humanoid with Multisensor Imaging System of Binocular Viewer, Ears, Wrist Force and Tactile Sensor Suit
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, pp.2497-2502, Apr 1997.

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