The Human-Size Humanoid Robot That Can Walk, Lie Down And Get Up  

Oleh:

Hirukawa, Hirohisa ; Kajita, Shuuji ; Kanehiro, Fumio ; Kaneko, Kenji ; Isozumi, Takakatsu

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 24 no. 9 (Sep. 2004), page 755-770.
Topik: humanoid robot; biped walking; getting up motion; human-size
Fulltext: 755.pdf (793.04KB)

Isi artikel

In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP-2P’s compact body with a waist joint and a novel motion controller.

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