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We propose a small biped entertainment robot prototype, Sony Dream Robot (SDR-3X) that realizes Motion Entertainment by entertaining people with its controlled dynamic motion performance. New key technologies developed for SDR-3X include the Intelligent Servo Actuator (ISA), the trine-actuator composed of a motor a built-in controller and a gear Another technology is Whole Body Coordinated Dynamic Motion Control. Both technologies realize dynamic, stable motion performance in dynamic biped walking, gymnastic motions and dancing. Human-rohot interactive performances are also described in this paper.
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Kuroki et al. (2002) studied this question.
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