Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development

• Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems Vol. 3; pp. 2455 - 2460 vol.3
• Main Authors: Kanehira, N., Kawasaki, T.U., Ohta, S., Ismumi, T., Kawada, T., Kanehiro, F., Kajita, S., Kaneko, K.
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2002
• Subjects: Applied sciences; Artificial intelligence; Collaborative work; Computer science; control theory; systems; Control theory. Systems; Exact sciences and technology; Humanoid robots; Humans; Industrial plants; Leg; Legged locomotion; Manufacturing processes; Pattern recognition. Digital image processing. Computational geometry; Research and development; Robotics; Security; Service robots; Trade; Walking; Experimental design; Specification; Bipedal walking; Electrical simulation; Robotics; Damaging; Leg; Humanoid robot
• ISBN: 0780373987; 9780780373983
• DOI: 10.1109/IRDS.2002.1041636

This paper presents an advanced leg module developed for HRP-2, a new humanoid robotics platform, which has been developed in phase two of the Humanoid Robotics Project (HRP), a five year program sponsored by the Ministry of Economy, Trade and Industry of Japan (METI) from 1998FY to 2002FY. The biped locomotion ability of HRP-1, the humanoid robotics platform developed in phase I is to be improved so that HRP-2 can cope with rough terrain and can prevent possible damage to the robot body caused by tipping over. In this paper, the mechanisms and specifications of the leg module, the electrical system, the simulation results utilized for deciding specifications, and some experimental results are presented.