Skip to main content
SpringerLink
Log in

Experimental Study of Biped Locomotion of Humanoid Robot HRP-1S

  • Conference paper
  • First Online:
Experimental Robotics VIII

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 5))

Abstract

We have developed a humanoid robot HRP- 1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI of Japan, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two of HRP. However HRP-1 is controlled its legs and arms separately, and it is not suitable for some applications. By modifying the control hardware of HRP-1 and implementing our own control software on it, we made HRP-1S. In this paper, we present several experimental results of HRP-1S.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Azevedo, C., Poignet, P., Espiau, B. (2001) Moving horizon control for biped robots without reference trajectory. Proc. IEEE Int. Conf. Robotics and Automation2762–2767

    Google Scholar 

  2. Espiau, B., Sardain, P. (2000) The anthropomorphic biped robot BIP2000. Proc. IEEE Int. Conf. Robotics and Automation 3997–4002

    Google Scholar 

  3. Gienger, M., Lffler, K., Pfeiffer, F. (2001) Towards the design of a biped jogging robot. Proc. IEEE Int. Conf. Robotics and Automation 4140–4145

    Google Scholar 

  4. Hirai, K., Hirose, M. et al. (1998) The development of Honda humanoid robot. Proc. IEEE Int. Conf. Robotics and Automation 1321–1326

    Google Scholar 

  5. Hirose, M., Haikawa, Y., et al. (2001) Development of humanoid robot ASIMO. Proc. Workshop on Explorations towards Humanoid Robot Applications of IEEE/RSJ International Conference on Intelligent Robots and Systems

    Google Scholar 

  6. Huang, Q., Nakamura, Y., Inamura, T. (2001) Humanoids walk with feedforward dynamic pattern and feedback sensory reflection, Proc. IEEE Int. Conf. Robotics and Automation 4220–4225

    Google Scholar 

  7. Huang, Q., Kajita, S., et al. (1999) A high stability smooth walking pattern for a biped robot Proc. IEEE Int. Conf. Robotics and Automation 65–71

    Google Scholar 

  8. Inoue, H., Tachi, S. et al. (2000) HRP: Humanoid Robotics Project of METI. Proc. IEEE-RAS Int. Conf. Humanoid Robots

    Google Scholar 

  9. Inoue, H., Tachi, S. et al. (2001) Overview of humanoid robotics project of METI, Proc. Int. Symp. Robotics 1478–1482

    Google Scholar 

  10. Ishida, T., Kuroki, Y. (2001) Motion entertainment by a small humanoid robot based on Open-R. Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems

    Google Scholar 

  11. Ishiwata, Y., Matsui, T. (1998) Development of Linux which has advanced real-time processing function. Proc. RSJ Annual Conf. 355–356

    Google Scholar 

  12. Kajita, S., Kanehiro, et al. (2001) The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation. Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems 239–246

    Google Scholar 

  13. Kagami, S., Nishiwaki, K., et al. (2000) A fast generation method of a dynamically stable humanoid robot trajectory with enhanced ZMP constraint. Proc. IEEE-RAS Int. Conf. Humanoid Robots

    Google Scholar 

  14. Kagami, S., Nishiwaki, K., et al. (2001) Design and implementation of software research platform for humanoid robotics: H6 Proc. IEEE Int. Conf. Robotics and Automation 2431–2436

    Google Scholar 

  15. Kanehiro, F., Inaba, M., Inoue, H. (1996) Development of a two-armed bipedal robot that can walk and carry objects, Proc. IEEE/RSJ Int. Conf. Intelligent Robot and Systems 23–28

    Google Scholar 

  16. Kanehiro, F., Miyata, N. et al. (2001) Virtual humanoid robot platform to develop controllers of real humanoid robots without porting. Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems

    Google Scholar 

  17. Lorch, O., Seara, J. F., et al. (2002) Perception errors in vision guided walking: analysis, modeling, and filtering. Proc. IEEE Int. Conf. Robotics and Automation 2048–2053

    Google Scholar 

  18. Nemoto, Y., Hattori, S., et al. (2001) Development of a basic motion control library for humanoid. Proc. Int. Symp. Robotics 1489–1490

    Google Scholar 

  19. Nishiwaki, K., Sugihara, T., et al. (2001) Online mixture and connection of basic motions for humanoid walking control by footprint specification. Proc. IEEE Int. Conf. Robotics and Automation 4110–4115

    Google Scholar 

  20. Park, J. H., Kwon, O. (2001) Reflex control of biped robot locomotion on a slippery surface. Proc. IEEE Int. Conf. Robotics and Automation 4134–4139

    Google Scholar 

  21. Pratt, J., Pratt, G., (1998) Intuitive control of a planar bipedal walking robot. Proc. IEEE Int. Conf. Robotics and Automation 2014–2021

    Google Scholar 

  22. Vukobratovic, M., Stepanenko, J. (1972) On the stability of anthropomorphic systems. Mathematical Biosciences 15, 1–37

    Article  MATH  Google Scholar 

  23. Yagi, M. and Lumelsky, V. (1999) Biped robot locomotion in scenes with unknown obstacles. Proc. IEEE Int. Conf. Robotics and Automation 375–380

    Google Scholar 

  24. Yamaguchi, J., Kinoshita, N., et al. (1996) Development of a dynamic biped walking system for humanoid-development of a biped walking robot adapting to the humans’ living floor-. Proc. IEEE Int. Conf. Robotics and Automation 232–239

    Google Scholar 

  25. Yamaguchi, J., Soga, E. (1999) Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking. Proc. IEEE Int. Conf. Robotics and Automation 368–374

    Google Scholar 

  26. Zheng, Y.F., Shen, J. (1990) Gait Synthesis for the SD-2 Biped Robot to Climb Sloping Surface. IEEE Trans. Robotics and Automation 6–1, 86–96

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba Central 2, Tsukuba, 305-8568, Japan

    Kazuhito Yokoi, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Shuji Kajita & Hirohisa Hirukawa

Authors
  1. Kazuhito Yokoi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Fumio Kanehiro
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Kenji Kaneko
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Kiyoshi Fujiwara
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Shuji Kajita
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Hirohisa Hirukawa
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dipartimento di Ingegneria dell’Informazione e Ingegneria Elettrica, Università degli Studi di Salerno, Via Ponte Don Melillo, 84084, Fisciano (SA), Italy

    Bruno Siciliano

  2. Scuola Superiore di Studi Universitari e di Perfezionamento Sant’Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy

    Paolo Dario

Rights and permissions

Reprints and permissions

Copyright information

© 2003 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Yokoi, K., Kanehiro, F., Kaneko, K., Fujiwara, K., Kajita, S., Hirukawa, H. (2003). Experimental Study of Biped Locomotion of Humanoid Robot HRP-1S. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_5

Download citation

  • DOI: https://doi.org/10.1007/3-540-36268-1_5

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00305-2

  • Online ISBN: 978-3-540-36268-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation