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

Author

Kanehira, Noriyuki ; Kawasaki, Toshikazu ; Ohta, Shigehiko ; Ismumi, T. ; Kawada, Tadahiro ; Kanehiro, Fumio ; Kajita, Shuuji ; KANEKO, Kenji

Author_Institution

Kawada Ind. Inc., Tochigi, Japan

Volume

3

fYear

2002

fDate

2002

Firstpage

2455

Abstract

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.

Keywords

actuators; compliance control; legged locomotion; HRP-2 humanoid robotics platform; Humanoid Robotics Project; actuator selection; advanced leg module; biped locomotion ability; compliance elements; electrical system; reduction ratio selection; rough terrain; simulation results; Collaborative work; Humanoid robots; Humans; Industrial plants; Leg; Legged locomotion; Manufacturing processes; Research and development; Security; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041636

Filename

1041636