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The International Journal of Robotics Research
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The Human-size Humanoid Robot That Can Walk, Lie Down and Get Up

Hirohisa Hirukawa

National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan

Shuuji Kajita

National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan

Fumio Kanehiro

National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan

Kenji Kaneko

National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan

Takakatsu 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.

Key Words: humanoid robot • biped walking • getting up motion • human-size

The International Journal of Robotics Research, Vol. 24, No. 9, 755-769 (2005)
DOI: 10.1177/0278364905057217
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