BIP: a joint project for the development of an anthropomorphic biped robot

Bernard Espiau (1)

1 BIP - Biped Robot

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

Mots clés: 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

Domaines: Robotique [cs.RO]

Bernard Espiau. BIP: a joint project for the development of an anthropomorphic biped robot. Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on, 1997, Sydney, Australia. pp.267-272. ⟨hal-00929776⟩