Humanoid Robot that can Lie down and Get up
Humanoid Robot that can Lie down and Get up
复制标题
能躺能站起来的人形机器人
DOI：
10.7210/jrsj.22.37
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发表时间：
2004
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：
F. Kanehiro;K. Kaneko;K. Fujiwara;K. Harada;S. Kajita;K. Yokoi;H. Hirukawa;K. Akachi;T. Isozumi
本文提出了一种与人类大小相同的人形机器人，可以躺在地板上并从地板上站起来，机器人面朝上和面朝下。我们相信该机器人是第一个具有该功能的真人大小的人形机器人。这些动作是通过新颖的硬件和软件的结合来实现的。硬件的特点是仿人比例和可动范围较广的关节，包括两个腰部关节。软件将运动分割成机器人和地板之间的接触状态序列，并为连续状态之间的每个转换分配适当的控制器。给出了实验结果。
This paper presents a humanoid robot that has the same size as a human and that can lie down to the floor and get up from the floor with the robot face upward and downward. We believe that the robot is the first life-size humanoid robot with the capability. The motions are realized by the combination of novel hardware and software. The features of the hardware are a human-like proportion and joints with wide movable ranges including two waist joints. The software segments the motion into the sequence of the contact states between the robot and the floor and assigns an appropriate controller to each transition between the consecutive states. The experimental results are presented.