BIP: a joint project for the development of an anthropomorphic biped robot
Abstract
The BIP project is a French joint project, started in fall 1994, which involves four laboratories. Its goal is to design a 17-joint anthropomorphic mechanical biped robot aimed at the study of human and robot locomotion. The main kinematic and dynamic parameters of the robot are close to anthropometric data. Electric actuators and transmissions are such that their actions are directed along the muscles of the leg and the foot. The control algorithms and the related control and programming architecture have to ensure that the robot can stand, was safe on even indoor surfaces (possibly with a small slope) and climb normal stairs. This paper describes the present state of the project
Keywords
robot dynamics
robot kinematics
BIP project
anthropomorphic biped robot
control architecture
electric actuators
human locomotion
indoor surfaces
mechanical biped robot
normal stairs
programming architecture
robot locomotion
transmissions
Actuators
Anthropomorphism
Biomechanics
Force measurement
Humans
Kinematics
Leg
Legged locomotion
Mobile robots
Robot sensing systems