Design of advanced leg module for humanoid robotics project of METI

• DOI: 10.1109/robot.2002.1013336
• Publication Date: 2003-06-25T21:52:33Z
• Authors: K. Kaneko; S. Kajita; F. Kanehiro; K. Yokoi; K. Fujiwara; H. Hirukawa; T. Kawasaki; M. Hirata; T. Isozumi
• Keywords: Christian ministry

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 project, has launched by Ministry Economy, Trade and Industry (METI) Japan from 1998FY to 2002FY five years. The ability the biped locomotion improved so that can cope with rough terrain open air prevent possible damages robot's own self event tipping over. In this mechanisms specifications module, electrical system, simulation results utilized deciding specifications, experimental are also introduced.