Design of LRP humanoid robot and its control method

Author

KANEKO, Kenji ; Kajita, Shuji ; YOKOI, Kazuhito ; Hugel, Vincent ; Blazevic, Pierre ; Coiffet, Philippe

Author_Institution

Lab. de Robotique de Paris, Velizy, France

fYear

2001

fDate

2001

Firstpage

556

Lastpage

561

Abstract

Recently, the need for robots has been changed from industrial automation to human friendly robot systems. It is increasingly required to develop a safe and reliable human friendly robot system capable of assisting human activities in human daily environments such as in offices, homes and hospitals. The humanoid robots that are anthropomorphic would be one type of human friendly robot system. First, the paper introduces a humanoid robot designed in our laboratory: LRP (Laboratoire de Robotique de Paris). This humanoid robot is 1000 [mm] height, 519 [mm] width, and about 60 [kg] weight respectively, and has a total of 29 D.O.F. which are driven by an internal network. Second, the paper also introduces a basic control scheme for our humanoid robot. Finally, experimental results are carried out both to conduct the validity of our control scheme and to decide the hardware specifications of the humanoid robot

Keywords

ergonomics; human factors; mobile robots; user interfaces; 1000 mm; 519 mm; 60 kg; LRP humanoid robot design; basic control scheme; control scheme; hardware specifications; human activities; human daily environments; human friendly robot system; humanoid robots; internal network; safe reliable human friendly robots; Anthropomorphism; Automatic control; Electrical equipment industry; Home automation; Hospitals; Humanoid robots; Humans; Robot control; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on

Conference_Location

Bordeaux, Paris

Print_ISBN

0-7803-7222-0

Type

conf

DOI

10.1109/ROMAN.2001.981963

Filename

981963