Design of prototype humanoid robotics platform for HRP

Kaneko, Kenji; Kanehiro, Fumio; Kajita, S.; Yokoyama, Kazuhiko; Akachi, Kazuhiko; Kawasaki, T.; Ota, Shigehiko; Isozumi, Takakatsu

doi:10.1109/irds.2002.1041632

Cited by 256 publications

(123 citation statements)

References 10 publications

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“…On the premise of completing the same task, it can save resources and improve the utilization rate, so it can be used as a substitute for large biped robot in experiment. The miniaturization of biped robot must also bring many new problems to the structure design, kinematical analysis and control of robot [7,8,9,10]. This paper designs a kind of small biped robot and explores the direct and inverse kinematical modeling method.…”

Section: Introductionmentioning

confidence: 99%

Kinematical Analysis of Small Biped Robot

Wang¹,

Gao²

2016

Advances in Computer Science Research

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Abstract.Research is carried out on the kinematics of a kind of small biped robot. The robot mechanical structure with six degrees of freedom is designed according to the bionic human body and the kinematical model of the robot is constructed through the transformation Matrix. In the inverse kinematical analysis, the relevant values are calculated. Finally, the experimental research is carried out. Results show that the robot can successfully realize walking, which proves the correctness of the kinematical analysis method in the paper.

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Section: Introductionmentioning

confidence: 99%

Kinematical Analysis of Small Biped Robot

Wang¹,

Gao²

2016

Advances in Computer Science Research

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“…Over the past decade, several anthropomorphic robots have been constructed. Some of them became well known even for non specialists : Honda Robot Asimo [1], Sony's biped QRIO [2] and Kawada's humanoid HRP-2 [3]. For each of these robots, there is much scientific literature describing their walk engines [4][5] [6], even on unknown and rough ground [7].…”

Section: Introductionmentioning

confidence: 99%

Omni-directional closed-loop walk for NAO

Gouaillier

Collette

Kilner

2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

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Abstract-This paper describes the new walk algorithm implemented on the NAO robot. NAO is a small fully actuated biped robot provided by the French company Aldebaran Robotics. Since the beginning of the company in July 2005, a major goal has been the development of robust walk for the robot. After 5 years of mecatronic design and improvements in robustness of the robot (7 prototypes) and multiple prototypes of humanoid dynamic walk algorithm, an omni-directional walk robust against small obstacles is now available for all the NAO units (more than 700) in the world.

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“…[6]. HRP is another humanoid robotics project, coordinated by METI in Japan resulting in the development of two humanoid platforms HRP and HRP-2 [7][8]. Other more recent medium size humanoids include SAIKA [9] a low cost 30 D.O.F robot and KENTA [10] that employs a flexible spine structure and is powered by pneumatic muscles.…”

Section: Introductionmentioning

confidence: 99%

Lower Body Design of the `iCub' a Human-baby like Crawling Robot

Tsagarakis

Sinclair

Becchi

et al. 2006

2006 6th IEEE-RAS International Conference on Humanoid Robots

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-The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2 ½ year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented.

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Design of prototype humanoid robotics platform for HRP

Cited by 256 publications

References 10 publications

Kinematical Analysis of Small Biped Robot

Kinematical Analysis of Small Biped Robot

Omni-directional closed-loop walk for NAO

Lower Body Design of the `iCub' a Human-baby like Crawling Robot

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