文档介绍：Robotics and Autonomous Systems 37 (2001) 81–100
Design and construction of a series pact humanoid robots
and development of biped walk control strategies
T. Furuta a,, Y. Okumura a, M. Shimizu b,∗, K. Tomiyama b
a Japan Science and Technology Corporation, Kitano Symbiotic Systems Project, Kawaguchi Center Building, 1-8,
Honcho 4-chome, Kawaguchi Saitama 332-0012, Japan
b Department of Integrated Information Technology, Engineering Systems Laboratory, Aoyama Gakuin University, 6-16-1,
Chitosedai, Setagaya, Tokyo 157- 8872, Japan
Abstract
Design and construction pact body humanoid robots and various biped otion control strategies implemented
onto them in the ESYS humanoid project at the Engineering Systems Laboratory are presented. Design concepts and hardware
specifications of the pact size humanoid robots from to are discussed. As for the biped walk control,
four biped otion control strategies all of which have various advantages such as versatility, high-energy efficiency, smooth
loading on hardware, and real-time gait generation, are proposed. 3D biped dynamic walking of the constructed humanoids is
realized by implementing the proposed biped control strategies onto them. Results of evaluation experiments on the proposed
control strategies are reported. © 2001 Elsevier Science . All rights reserved.
Keywords: Humanoid; Biped walk; Walking controller; Gait generator
1. Introduction there were not many humanoid researchers until after
Honda’s P2 [5]. The project, called “ESYS humanoid
The design and construction pact body hu- project”, menced in April 1996 at our labo-
manoid robots and four biped otion control ratory within this rather unheralded era for humanoid
strategies that are implemented onto them in the research. The purposes of this project are to develop
ESYS humanoid project at the Engineering Systems and integrate ponent technologies, to im-
Laboratory are presented in this paper. plement them onto h