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The development of Honda humanoid robot
Abstract
In this paper, we present the mechanism, system configuration, basic control algorithm and integrated functions of the Honda humanoid robot. Like its human counterpart, this robot has the ability to move forward and backward, sideways to the right or the left, as well as diagonally. In addition, the robot can turn in any direction, walk up and down stairs continuously. Furthermore, due to its unique posture stability control, the robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces. As a part of its integrated functions, this robot is able to move on a planned path autonomously and to perform simple operations via wireless teleoperation.
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Cited by
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Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241826 · Cited by 2,104
Is imitation learning the route to humanoid robots?
Schaal, S. (1999) · Trends in Cognitive Sciences · doi:10.1016/s1364-6613(99)01327-3 · Cited by 1,314
Multiagent systems: A survey from a machine learning perspective
Stone, P., & Veloso, M. (2000) · Autonomous Robots · doi:10.1023/a:1008942012299 · Cited by 1,218
Design and control of tensegrity robots for locomotion
Paul, C., Valero-Cuevas, F. J., & Lipson, H. (2006) · IEEE Transactions on Robotics · doi:10.1109/tro.2006.878980 · Cited by 423
Series elastic actuator development for a biomimetic walking robot
Robinson, D. W., Pratt, J. E., Paluska, D. J., & Pratt, G. A. (1999) · 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399) · doi:10.1109/aim.1999.803231 · Cited by 409
Metadata
- Authors
- Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T.
- Venue
- Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
- Publisher
- IEEE
- Published
- 2002-11-27
- Volume
- 2
- Pages
- 1321-1326
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2142992961
- Cited by
- 1,922
- References
- 0
- FWCI
- 187.22
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T. (2002). The development of Honda humanoid robot. Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146). https://doi.org/10.1109/robot.1998.677288
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
