The control system for the Honda humanoid robot.
To avoid tipping over either during walking or on standing up, humans will first push down hard on the ground with a part of the sole of the foot. Then, when the tipping force can no longer be resisted, a change in body position or an extra step (stepping out) may be required to stabilise the posture. Our biped robot's control system attempts to reproduce and execute the same postural control operations carried out by humans. In this article, we present the history of robot development at Honda, fundamental dynamics for robots and the principles of posture control.
Takenaka
Toru
T
Wako Research Centre, Honda R&D Co., Ltd, 8-1 Honcho, Wako-shi, Saitama Prefecture 351-0114, Japan. toru_takenaka@n.f.rd.honda.co.jp
D001185:Artificial Intelligence; D001696:Biomechanical Phenomena / Q000379:methods; D003491:Cybernetics / Q000379:methods*; D005121:Extremities / Q000502:physiology; D005528:Foot; D005684:Gait; D006801:Humans; D008124:Locomotion; D009068:Movement; D016571:Neural Networks, Computer; D011187:Posture; D011597:Psychomotor Performance / Q000502:physiology; D012371:Robotics; D016138:Walking