The Poppy Humanoid Robot: Leg Design for Biped Locomotion

Matthieu Lapeyre 1 Pierre Rouanet 1 Pierre-Yves Oudeyer 1
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, ENSTA ParisTech U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : We introduce a novel humanoid robotic platform designed to jointly address three central goals of humanoid robotics: 1) study the role of morphology in biped locomotion; 2) study full-body compliant physical human-robot interaction; 3) be robust while easy and fast to duplicate to facilitate experimentation. The taken approach relies on functional modeling of certain aspects of human morphology, optimizing materials and geometry, as well as on the use of 3D printing techniques. In this article, we focus on the presentation of the design of specific morphological parts related to biped locomotion: the hip, the thigh, the limb mesh and the knee. We present initial experiments showing properties of the robot when walking with the physical guidance of a human.
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Communication dans un congrès
IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. 2013
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Contributeur : Matthieu Lapeyre <>
Soumis le : jeudi 22 août 2013 - 14:01:55
Dernière modification le : vendredi 6 janvier 2017 - 01:22:39

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Matthieu Lapeyre, Pierre Rouanet, Pierre-Yves Oudeyer. The Poppy Humanoid Robot: Leg Design for Biped Locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. 2013. <hal-00852858>

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