The Anthropomorphic Biped Robot BIP2000

This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved for 4 years, as uimed at the realization of the lower part of an anthropomorphic biped robot. The project couers mechanical design, control studies and computer architecture integration. The robot includes two legs, two feet, a pelvis and U trunk. It has 15 active joints. The mass distribution, the kinematics and the capacities of the robot in terms of joint torques are close to the ones of humans. The transmissions are specific screw/nuts-bused systems which have good dynamic performances, and small size. They are arranged in parallel at the ankles and at the trunk/pelvis linkage. The control schemes either are based on a control of the center of mass associated with suitable task functions, or take dynacmically into account the unilateral constraifits foot/ground. At the present state of the project, the robot has been built and tested; the computer control architecture ha...

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Bernard Espiau, Philippe Sardain
• Keywords: Anthropomorphic Biped Robot, Biped Robot, Control Schemes, ICRA 2000, Robotics