Design of advanced leg module for humanoid robotics project of METI
Design of advanced leg module for humanoid robotics project of METI
复制标题
日本经济产业省人形机器人项目的先进腿部模块设计
DOI：
10.1109/robot.2002.1013336
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
T. Isozumi
中科院分区：
文献类型：
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作者：
K. Kaneko;S. Kajita;F. Kanehiro;K. Yokoi;K. Fujiwara;H. Hirukawa;Toshikazu Kawasaki;Masaru Hirata;T. Isozumi
本文介绍了一种先进的腿模块HRP-2的开发。HRP-2是一个新的人形机器人平台。这是我们在HRP第二阶段开发的HRP是日本经济产业省从1998年至2002年开展的一项为期五年的人形机器人项目。改进了HRP-2的双足移动能力，使HRP-2能够在户外科普崎岖的地形，并能够防止在翻倒的情况下对仿人机器人自身可能造成的伤害。本文还介绍了腿模块、电气系统、用于确定规格的仿真结果和实验结果的机理和规格。
This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics platform,. which we have been developing in phase two of HRP. HRP is a humanoid robotics project, which has been launched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over. In this paper the mechanisms and specifications of leg module, electrical system, simulation results utilized for deciding specifications, and experimental results are also introduced.