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A running experiment of humanoid biped

T. Nagasaki, S. Kajita, K. Kaneko, K. Yokoi, K. Tanie
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)  

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Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces a method of running pattern generation and running experiment of biped robot HRP-2LR. Based on the physical parameters of HRP-2LR, running patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used Resolved Momentum Control [16]. The vertical momentum is calculated considering the compliant
more » ... ements in order to realize accurate flight duration. The horizontal momentum is calculated to satisfy the ZMP patterns given in advance. Using our pattern, HRP-2LR could successfully run with average speed of 0.16[m/s] with repeat flight phase 0.06 [s] and support phase 0.3 [s].
doi:10.1109/iros.2004.1389342 dblp:conf/iros/NagasakiKKYT04 fatcat:lcqmvtiokbhkbinzuluekwuor4
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T. Nagasaki, S. Kajita, K. Kaneko, K. Yokoi, K. Tanie. "A running experiment of humanoid biped." 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) 136-141