The Human-size Humanoid Robot That Can Walk, Lie Down and Get Up

Autor:	Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Takakatsu Isozumi, Hirohisa Hirukawa
Rok vydání:	2005
Předmět:	Artificial Intelligence Digital pattern generator Control theory Applied Mathematics Mechanical Engineering Modeling and Simulation Feedback control Motion controller Electrical and Electronic Engineering Lying Software Humanoid robot Mathematics
Zdroj:	The International Journal of Robotics Research. 24:755-769
ISSN:	1741-3176 0278-3649
DOI:	10.1177/0278364905057217
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::0a6fc8dacd4049da023ffcaa000f705d https://doi.org/10.1177/0278364905057217 Zobrazit plný text záznamu