We present a 35 DOF full-body humanoid is designed to be a testbed to integrate research tools for humanoid full-body behaviors. Each limb has 6 DOF. The neck has 3 DOF. Each hand has 4 DOF. The key idea of the system architecture is the remote-brained approach. This paper describes the design concept and the details of the system and introduces experiments to stand up using table for support and to perform action selection in reaching and grasping an object based on vision.
['Masayuki Inaba', 'Takashi Igarashi', 'Satoshi Kagami', 'Hirochika Inoue']
A 35 DOF humanoid that can coordinate arms and legs in standing up, reaching and grasping an object