Abstract
This paper present a humanoid robot, called HRP-2, that can walk, lie down and get up. We believe that HRP-2, 154[cm] height an 58[kg] weight, is the first humanoid robot that has the human-size and can lie down and get up. The biped walking is realized by a walking pattern generator using a preview control and by a feedback control. The lying down and getting up motions were made possible by HRP2’s compact body with a waist joint and a novel motion controller.
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© 2005 Springer-Verlag Berlin Heidelberg
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Hirukawa, H., Kajita, S., Kanehiro, F., Kaneko, K., Isozumi, T. (2005). The Human-Size Humanoid Robot That Can Walk, Lie Down and Get Up. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_40
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DOI: https://doi.org/10.1007/11008941_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23214-8
Online ISBN: 978-3-540-31508-7
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