Open architecture humanoid robotics platform

This paper introduces an open architecture humanoid robotics platform (OpenHRP) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 1; pp. 24 - 30 vol.1
Main Authors Kanehiro, F., Fujiwara, K., Kajita, S., Yokoi, K., Kaneko, K., Hirukawa, H., Nakamura, Y., Yamane, K.
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 2002
Subjects
Computer architecture
Computer industry
Hardware
Humanoid robots
Industrial control
Legged locomotion
Robot control
Robot kinematics
Service robots
Software libraries
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Summary:This paper introduces an open architecture humanoid robotics platform (OpenHRP) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hardware, due to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.
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ISBN:0780372727
9780780372726
ISSN:1050-4729
DOI:10.1109/ROBOT.2002.1013334