PINO The Humanoid : A Basic Architecture
Fuminori Yamasaki4, 5 
, Tatsuya Matsui4, Takahiro Miyashita4 and Hiroaki Kitano4
| (4) |
Kitano Symbiotic Systems Project, ERATO, JST, Japan |
| (5) |
Osaka University, Japan |
Abstract
In this paper, we present a basic architecture and design principle behind Pino, a humanoid for RoboCup Humanoid League. Pino
is designed to be a platform for research in robotics and AI. There are four major issues in Pino’s design; (1) high DOF system
to realize various behaviors, (2) exterior design, (3) cheap mechanical components, and (4) a basic behavioral control systems.
These issues are specifically addressed in this paper in order to illustrate basic architecture and components for humanoid
platform that can be widely used for many RoboCup researchers in the world.
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