?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=RPBP%3A+Rapid-prototyped+remote-brain+biped+with+3D+perception&rft.creator=Vona%2C+M&rft.creator=Kanoulas%2C+D&rft.description=This+paper+provides+the+design+of+a+novel+open-hardware+mini-bipedal+robot%2C+named+Rapid-Prototyped+Remote-Brain+BiPed+(RPBP)%2C+that+is+developed+to+provide+a+low-cost+and+reliable+platform+for+locomotion+and+perception+research.+The+robot+is+made+of+customized+3D-printed+material+(ABS+plastic)+and+electronics%2C+and+commercial+Robotics+Dynamixel+MX-28+actuators%2C+as+well+as+visual+RGB-D+and+IMU+sensing+systems.+We+show+that+the+robot+is+able+to+perform+some+locomotion%2Fvisual-odometry+tasks+and+it+is+easy+to+switch+between+different+feet+designs%2C+providing+also+a+novel+Center-of-Pressure+(CoP)+sensing+system%2C+so+that+it+can+deal+with+various+types+of+terrain.+Moreover%2C+we+provide+a+description+of+its+control+and+perception+system+architecture%2C+as+well+as+our+opensource+software+packages+that+provide+sensing+and+navigation+tools+for+locomotion+and+visual+odometry+on+the+robot.+Finally%2C+we+briefly+discuss+the+transferability+of+some+prototype+research+that+has+been+done+on+the+developed+mini-biped%2C+to+half+or+fullsize+humanoid+robots%2C+such+as+COMAN+or+WALK-MAN.&rft.publisher=IEEE&rft.date=2019-07-01&rft.type=Proceedings+paper&rft.language=eng&rft.source=+++++In%3A+++(Proceedings)+2019+IEEE+4th+International+Conference+on+Advanced+Robotics+and+Mechatronics+(ICARM).+(pp.+pp.+881-887).++IEEE+(2019)+++++&rft.format=text&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10084270%2F1%2FP27__Vona_Kanoulas__2019__RPBP_Rapid-Prototyped_Remote-Brain_BiPed_with_3D_Perception.pdf&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10084270%2F&rft.rights=open