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Volume 24 Issue 9 - Publication Date: 1 September 2005
Special Issue on the 11th International Symposium on Robotics Research
 
The Human-size Humanoid Robot That CanWalk, Lie Down and Get Up
 
H. Hirukawa, S. Kajita, F. Kanehiro, K. Kaneko National Institute of Advanced Industrial, Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan, and T. Isozumi Kawada Industries, Inc., 122-1 Hagadai, Haga, Tochigi 321-3325 Japan
 
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 HRP-2P’s compact body with a waist joint and a novel motion controller.
 
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