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The International Journal of Robotics Research
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Morph: A Desktop-Class Humanoid Capable of Acrobatic Behavior

Tetsuo Tawara

ERATO, Kitano Symbiotic Systems Project, JST, Corp., ttt{at}furo.org

Yu Okumura

ERATO, Kitano Symbiotic Systems Project, JST, Corp.

Takayuki Furuta

ERATO, Kitano Symbiotic Systems Project, JST, Corp.

Masaharu Shimizu

ERATO, Kitano Symbiotic Systems Project, JST, Corp.

Masaki Shimomura

ERATO, Kitano Symbiotic Systems Project, JST, Corp.

Ken Endo

ERATO, Kitano Symbiotic Systems Project, JST, Corp. and Keio University

Hiroaki Kitano

Sony Computer Science Laboratories, Inc. and ERATO, Kitano Symbiotic Systems Project, JST, Corp.

A desktop class humanoid robot, morph3, developed for humanoid robotics is described. Consideration to body form is given in order to appeal to a general audience. 138 sensors such as accelerometers, rate gyros, pressure sensors, and force sensors are mounted on morph3. We describe the electrical network which is utilized on-board the humanoid body, and describe some advantages of the system. Actual dynamical behavior such as walking, turning, and motions using the whole-body is performed on the humanoid robot.

Key Words: humanoid • in-body LAN • biped locomotion

The International Journal of Robotics Research, Vol. 23, No. 10-11, 1097-1103 (2004)
DOI: 10.1177/0278364904047395
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