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

Authors:
Hirohisa Hirukawa;Shuuji Kajita;Fumio Kanehiro;Kenji Kaneko;Takakatsu Isozumi
Affiliations:
National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan;National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan;National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan;National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan;Kawada Industries, Inc., 122-1 Hagadai, Haga, Tochigi 321-3325 Japan
Venue:
International Journal of Robotics Research
Year:
2005

Citing 1
Cited 6

Two-armed bipedal robot that can walk, roll over and stand up

IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3

A uniform biped gait generator with offline optimization and online adjustable parameters

Robotica
On the nonholonomic nature of human locomotion

Autonomous Robots
Real-time estimation algorithm for the center of mass of a bipedal robot with flexible inverted pendulum model

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Truncated fourier series formulation for bipedal walking balance control

Robotica
An active sensing strategy for contact location without tactile sensors using robot geometry and kinematics

Autonomous Robots
State classification for humanoid robots

Applied Bionics and Biomechanics

Quantified Score

Hi-index	0.00

Visualization

Abstract

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.