Recently various types of robots are being studied and developed, which can be classified into two groups: humanoid types and animal types. Since each group has its own merits and demerits, a new type of robot is expected to emerge with greater strengths and fewer weaknesses. In this paper we propose a new type of robot called the "Centaur Robot" by merging the concepts of these two types of robots. This robot has a human-like upper body and a four-legged animal-like lower body. Due to this basic architecture, the robot has several merits, including human-like behaviors. It can also walk smoothly and stably even on non-smooth ground. We describe the basic concept of our centaur robot and then explain its hardware and software architectures as well as its merits.
Abstract. Recently various types of robots are being studied and developed, which can be classified into two groups: humanoid type and animal types. Since each group has its own merits and demerits, a new type of robot is expected to emerge with greater strengths and fewer weaknesses. In this paper we propose a new type of robot called the "Centaur Robot" by merging the concepts of these two types of robots. This robot has a human-like upper body and a four-legged animal-like lower body. Due to this basic architecture, the robot has several merits, including human-like behaviors. It can also walk smoothly and stably even on non-smooth ground. We describe the basic concept of our centaur robot and then explain its hardware and software architectures as well as its merits.
Recently various types of robots are being studied and developed, which can be classified into two groups: humanoid type and animal type. Since each group has its own merits and demerits, a new type of robot is expected to emerge with greater strengths and fewer weaknesses. In this paper we propose a new type of robot called the "Centaur Robot" by merging the concepts of these two types of robots. This robot has a human-like upper body and a four-legged animal-like lower body. Due to this basic architecture, the robot has several merits, including human-like behaviors and stable walking even on non-smooth ground. We describe its hardware and software architectures. Also we describe the experiments to evaluate its walking capability.
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