The human-size humanoid robot that can walk, lie down and get up

Abstract

This paper presents a humanoid robot, called HRP-2, that can walk, lie down and get up. We believe that HRP-2, 154[cm] height and 58[kg] weight, is the first humanoid robot that has the human-size and can lie down and get up. The biped walking is realized by a walking pattern generator using a preview control and by a feedback control. The lying down and getting up motions were made possible by HRP2's compact body with a waist joint and a novel motion controller. © Springer-Verlag Berlin Heidelberg 2005.