Identification of HRP-2 foot´s dynamics

This paper describes the identification of HRP-2 foot´s dynamics. It is expected that a humanoid robot will work in the same environment as man. For that purpose, safety of operation is important. Although a simulator is used for confirming safe conditions of operation, an error may arise in a dynamic parameter by the robot of a simulator, and an actual robot. In this paper, it identified about the viscoelasticity of the sole bush for impact absorption at the time of the walk of humanoid robot HRP-2. We used some simple active motions and composed these motions. We identified parameter using composed motions. We finally compare the identified parameters using the experimental results and simulator results.