Title :
Open architecture humanoid robotics platform
Author :
Kanehiro, Fumio ; Fujiwara, Kiyoshi ; Kajita, Shuuji ; YOKOI, Kazuhito ; KANEKO, Kenji ; Hirukawa, Hirohisa ; Nakamura, Yoshihiko ; Yamane, Katsu
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Ibaraki, Japan
Abstract :
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.
Keywords :
digital simulation; legged locomotion; mobile robots; open systems; robot dynamics; virtual reality; OpenHRP; biped locomotion; dynamics simulator; humanoid robotics platform; mobile robot; motion control library; open architecture; virtual reality; Computer architecture; Computer industry; Hardware; Humanoid robots; Industrial control; Legged locomotion; Robot control; Robot kinematics; Service robots; Software libraries;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013334
