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Proceedings Paper

Walking control of small size humanoid robot: Hajime Robot 18
Author(s): Hajime Sakamoto; Ryohei Nakatsu
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Paper 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.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679421 (9 January 2008); doi: 10.1117/12.784475
Show Author Affiliations
Hajime Sakamoto, Kwansei Gakuin Univ. (Japan)
Hajime Research Institute (Japan)
Ryohei Nakatsu, Kwansei Gakuin Univ. (Japan)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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