Design of LRP humanoid robot and its control method
- 13 November 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
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
This publication has 8 references indexed in Scilit:
- A Robust decentralized joint control based on interference estimationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Adaptive gait control of a biped robot based on realtime sensing of the ground profilePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Manipulator control based on a disturbance observer in the operational spacePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum modePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The development of Honda humanoid robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The augmented object model: cooperative manipulation and parallel mechanism dynamicsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Digital creatures for future entertainment roboticsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The realization of dynamic walking by the biped walking robot WL-10RD.Journal of the Robotics Society of Japan, 1985