期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 24, 期 9, 页码 755-769出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364905057217
关键词
humanoid robot; biped walking; getting up motion; human-size
类别
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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