Design of advanced leg module for humanoid robotics project of METI

Author

KANEKO, Kenji ; Kajita, Shuuji ; Kanehiro, Fuwio ; Yokoi, Katsutaka ; Fujiwara, Kiyoshi ; Hirukawa, Hirohisa ; Kawasaki, Toshikazu ; Hirata, Masaru ; Isozumi, Takakatsu

Author_Institution

Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan

Volume

1

fYear

2002

fDate

2002

Firstpage

38

Abstract

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 launched 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 with rough terrain in the open air and can prevent the possible damages to a humanoid robot´s own self in the event of tipping over. In this paper the mechanisms and specifications of leg module, electrical system, simulation results utilized for deciding specifications, and experimental results are also introduced.

Keywords

legged locomotion; HRP-2; METI; advanced leg module design; electrical system; humanoid robotics project; rough terrain; simulation results; Aging; Anthropomorphism; Home automation; Hospitals; Humanoid robots; Humans; Leg; Legged locomotion; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013336

Filename

1013336