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This paper presents a humanoid robot HRP-2 developed for Humanoid Robotics Project of METI (HRP for short) . HRP-2 is designed to walk on rough terrain, to prevent the possible damages to a humanoid robot's own self in the event of tipping over, and to get up again for applying it to cooperative works with a human in the open air. In this paper, the mechanical design, the electrical design, the manufacturing method, and experimental results for confirmation of designed specifications are presented.
Isozumi et al. (Thu,) studied this question.
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