Advances in Humanoiid Robots
Creating a Humanoid Robot

After establishing the two-legged walking technology, work was begun on combining an upper torso with the legs and developing humanoid robot technology.
Studies were carried out to determine what a humanoid robot should be like to function in society and in a human living environment, and a prototype model of almost human size was completed.
A. Basic Structure

To work in harmony with people and for ease of operation, it was decided that the robot should have two arms.
B. Basic Functions
Target Point Movement
From the erect position, a camera is used to recognize two markers placed on the floor or other spots. After the robot estimates its present location and direction, it designates a target point. It then calculates the method giving the minimum amount of walking required to move from its present location to the target point. The gyroscope is used for inertial navigation as it moves to the target point, correcting for irregularities caused by slippage, etc.

Climbing/Descending Stairs
A 6-axis force sensor is used to measure steps, so the robot can negotiate even long stairways continuously without missteps.

Cart Pushing
The robot can push carts at a set speed, but if the cart encounters some kind of resistance the robot shortens its stride in response to avoid excessive pushing.

Passing Through Doorways
The robot can open and close doors while passing through doorways. As in cart pushing, its steps are regulated in response to the door's opening/closing condition.

Carrying Things
Each arm can carry up to 2kg while walking.

Working Via Remote Operation
The robot can tighten bolts and perform other tasks with the master arm while sensing hand operating pressure.

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