Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development
نویسندگان
چکیده
This paper presents an advanced leg module developed for, HRP-2, a new humanoid robotics platform, which has been developed in the phase two of the Humanoid Robotics Project(HRP), a five year program sponsored by the Ministry of Economy, Trade and Industry of Japan (METI) from 1998FY to 2002FY. The biped locomotion ability of HRP-1, the humanoid robotics platform developed in the phase 1 of HRP, is to be improved so that HRP-2 can cope with rough terrains and can prevent possible damage to the robot’s body caused by tipping over. In this paper, the mechanisms and specifications of the leg module, the electrical system, the simulation results utilized for deciding specifications, and some experiment results are presented.
منابع مشابه
Design of Advanced Leg Module for Humanoid Robotics Project of METI
This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics platform, which we have been developing in phase two of HRP. HRP is a humanoid robotics project, which has been lunched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope wit...
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