A control architecture to achieve manipulation task goals for a humanoid robot

초록

Focusing on the manipulation tasks to be executed by humanoid robots, principal requirements which are to be satisfied by hardware/software of the control system are considered. In order to meet the requirements, a novel type of hardware structure and software archietecture is proposed in this paper. The control architecture proposed has been implemented for performing toy-block assembly tasks on a humanoid robot as well as on the graphic simulator.