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...

This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoi...

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...

This thesis describes the design and implementation of a Walking Algorithm for the humanoid robot. The humanoid is intended to be an autonomous robot, and has a total of 6 degrees of freedom coming from the hip joint, knee joint and ankle joint for each leg. The aim of this thesis project is to develop a walking pattern to control and walk in a stable manner. Exploit methods for developing a na...

Abstract: Biped locomotion created by referring to ZMP criterion to keep a robot stable during walking have contributed to promising humanoid’s walking strategies, having realized stable walking of real humanoid robots. However the walking strategies having been proposed so far including ZMP-based stabilization method seem to be constructed on assumption that the slippage doesn’t occur. In this...

This paper presents a method for learning the parameters of rhythmic walking to generate a purposive motion. The controller consists of the two layers. Rhythmic walking is realized by the lower layer controller which adjusts the speed of the phase on the desired trajectory depending on the sensor information. The upper layer controller learns (1) the feasible parameter sets that enable a stable...

A lot of research on humanoid robots or biped robots has been conducted. This research focused on enabling robots to walk very smoothly, similar to the way humans walk, which is highly energy efficient. Motion control using a central pattern generator (CPG) has attracted much attention as an effective control mechanism for biped robots to achieve human-like walking (e.g., Kato & Itoh (2005); Ko...

This paper presents the process of translating formal theory and methods to efficient algorithms in the context of human-inspired control of bipedal robots, with the end result being experimentally realized robust and efficient robotic walking with AMBER. We begin by considering human walking data and find outputs (or virtual constraints) that, when calculated from the human data, are described...

The present paper deals with the motion analysis of the leg tip of a six-legged walking robot, which mimics the kinematic structure and locomotion of the stick insect. The kinematic model of the six-legged walking robot and the appropriate algorithm for the leg coordination were proposed in previous papers to simulate and analyze different types of gait for different speeds of the robot body, b...

Abstract—The purpose of this research is to make the biped walking robot walk considering the theory of passive walking. Two motors were installed at the hip joints connecting both legs to torso link. The numerical calculations about walking motion were performed. The proportional (P) or proportionaldifferential (PD) control law was used in the calculations. The experimental robot has been bein...