The anthropomorphic biped robot BIP2000

This paper describes the progress of the BIP2000 project. This project is aimed at the realization of the lower part of an anthropomorphic biped robot. The robot consists of two legs, two feet, a pelvis and a trunk. It has 15 active joints. The mass distribution, the kinematics and the capacities of the robot in terms of joint torques are close to the ones of humans. The transmissions are specific screw/nut-based 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 are either based on a control of the center of mass associated with suitable task functions, or take dynamically into account the unilateral constraints foot/ground. The robot has been built and tested, the computer control architecture has been realized and connected with the robot, and the basic control schemes have been implemented