Design of LRP humanoid robot and its control method

Abstract

Recently, the need for robots has been changed from industrial automation to human friendly robot systems. It is increasingly required to develop a safe and reliable human friendly robot system capable of assisting human activities in human daily environments such as in offices, homes and hospitals. The humanoid robots that are anthropomorphic would be one type of human friendly robot system. First, the paper introduces a humanoid robot designed in our laboratory: LRP (Laboratoire de Robotique de Paris). This humanoid robot is 1000 [mm] height, 519 [mm] width, and about 60 [kg] weight respectively, and has a total of 29 D.O.F. which are driven by an internal network. Second, the paper also introduces a basic control scheme for our humanoid robot. Finally, experimental results are carried out both to conduct the validity of our control scheme and to decide the hardware specifications of the humanoid robot.