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We propose a small biped entertainment robot, SDR-3X (a prototype Sony Dream Robot) which enables the motion entertainment, i.e., entertaining people with its controlled dynamic motion performances. Some of the new key technologies have been developed to realize the SDR-3X. One is the newly developed robot actuator named intelligent servo actuator (ISA). The ISA is the trine-actuator composed of a motor unit, a built-in control unit and a gear unit. The ISA features dynamic and high power output from a small, lightweight actuator. Another technology is the whole body coordinated dynamic motion control method. It realizes stable biped walking and stable whole-body dynamic motion performances.
Y. Kuroki (Wed,) studied this question.