Control Architecture and Algorithms of the Anthropomorphic Biped Robot Bip2000
نویسنده
چکیده
INRIA [1] and LMS [2] have designed and realized an anthropomorphic legged robot, BIP2000 (fig.1). A planar version achieves walking, and the whole robot is able to keep its balance on one foot while moving. The purpose of this paper is to present the principles and the architecture of the robot control we have used. After having presented the robotic system, and the software architecture, we will detail the principles of the robot control. We will finally present implementation issues and experimental results.
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تاریخ انتشار 2000