@Article{hirukawa:ijrr:2005,
  author    = {Hirukawa, Hirohisa and Kajita, Shuuji and Kanehiro, Fumio and Kaneko, Kenji and Isozumi, Takakatsu},
  title     = {The Human-Size Humanoid Robot That Can Walk, Lie Down and Get Up},
  journal   = {The International Journal of Robotics Research},
  year      = {2005},
  volume    = {24},
  number    = {9},
  pages     = {455--769},
  month     = {September},
  doi       = {https://doi.org/10.1177/0278364905057217},
  url       = {https://journals.sagepub.com/doi/pdf/10.1177/0278364905057217?casa\_token=x-WSzPFpvEQAAAAA:p3POc-tEpJ3zZIhSBH\_ygHRPCC4Xvuldxguo\_tW983Sp5VHcCScmSGORrrdYOiRCoCKPeekL4tBx},
  keywords  = {humanoid robot, biped walking, getting up motion, human-size},
  abstract  = {In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP-2P’s compact body with a waist joint and a novel motion controller.},
  publisher = {Sage Publications Ltd},
  address   = {1 Olivers Yard, 55 City Road, London EC1Y 1SP, England}
}