The Anthropomorphic Biped Robot BIP2000

This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved fo r 4 years, as uimed at the realization of the lower part of a n anthropomorphic biped robot. The project couers mechanical design, control studies and computer architecture integration. The robot includes two legs, two feet, a pelvis and U trunk. It has 15 active joints. The mass distribution, the kinematics and the capacities of the robot in terms of joint torques are close t o the ones of humans. The transmissions are specific screw/nuts-bused systems which have good dynamic performances, and small size. They are arranged in parallel at the ankles and at the trunk/pelvis linkage. The control schemes either are based on a control of the center of mass associated with suitable task functions, or take dynacmically into account the unilateral constraifits foot/ground. At the present state of the project, the robot has been built and tested; the computer control architecture has been realized and connected with the robot; basic control schemes are implemented and advanced ones have been tested an simulation.