The Human-Size Humanoid Robot That Can Walk, Lie Down and Get Up

In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP2P’s compact body with a waist joint and a novel motion controller. KEY WORDS—humanoid robot, biped walking, getting up motion, human-size

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