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Standardized Action Modules for Humanoid Robot ControlHumanoid robots could reduce the risks of hazardous work by replacing humans in dangerous environments and they could be useful helpers in environments designed primarily for humans. Currently, no robot is capable enough to fulfill either of these roles for any practical application, and the Humanoid Project at the Jet Propulsion Laboratory's Bio-Inspired Technologies and Systems group is striving to change that. For this summer, our goal was to endow a Fujitsu HOAP 2 humanoid robot with the necessary intelligence and knowledge to autonomously assemble a cubical frame structure from tubular bars and corner joints. Performing such a complicated task requires that the robot have a robust control architecture that allows for a multitude of abilities and Operation modes. We have designed and implemented a modular control architecture that allows reusability of existing code and the integration of work by many team members into the larger control system while providing an easy way to implement later improvements. Such a control system has allowed us to achieve important milestones in the humanoid robot assembly task.
Document ID
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
Csaszar, Ambrus
(California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 23, 2013
Publication Date
August 1, 2005
Publication Information
Publication: Summer Student Research Presentations
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Work of the US Gov. Public Use Permitted.

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