Benchmarking the HRP-2 Humanoid Robot During Locomotion

摘要

In this paper we report results on benchmarking a HRP-2 humanoid robot. The humanoid robots of this serie are known to be very robust. They have been successfully used by several research groups for the design of new motion generation algorithms. As such it is a reference in the category of electrically driven humanoid robot. As new humanoid robots are continuously built it is interesting to compare the performances of these new prototypes to those of HRP-2. This benchmarking study was realized through a campaign of measurements in an advanced equipped testing laboratory that provides a well adapted controlled environment. We have investigated the effect of temperatures variation on the robot walking capabilities. In order to benchmark various environmental conditions and algorithms we computed a set of performance indicators for bipedal locomotion. The scope of the algorithms for motion generation evaluated here ranges from analytical solution to numerical optimization approach, enabling real-time walking or multi-contacts motions.