Walking control of small size humanoid robot: Hajime Robot 18

Hajime Sakamoto; Ryohei Nakatsu

doi:10.1117/12.784475

9 January 2008 Walking control of small size humanoid robot: Hajime Robot 18

Hajime Sakamoto, Ryohei Nakatsu

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679421 (2008) https://doi.org/10.1117/12.784475
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.

Citation Download Citation

Hajime Sakamoto and Ryohei Nakatsu "Walking control of small size humanoid robot: Hajime Robot 18", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679421 (9 January 2008); https://doi.org/10.1117/12.784475

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