Development of a two-armed bipedal robot that can walk and carry objects

摘要

We have focused on actions of a humanlike robot which has the whole body and realized actions such as "walk", "roll over" and "stand up". In this research, we design and implement the whole body humanlike robot that can perform a "carry objects" action. Keys to realizing a carrying action are (1) the robot system which has a lightweight whole body robot and a powerful brain which can process a multi joint model of the body, (2) the model environment which can generate walking patterns on the horizontal ground, stairs and a slope by moving its centroid and (3) gravity compensation based on modeling of the actuator.