Integrated system software for HRP2 humanoid

This paper describes the design and development of system software for humanoid robots such that researchers who specialize not only in biped walking but also in various fields are able to use humanoid robots as a research tool. For this purpose, the system for a humanoid must integrate and organize each subsystem such as control, recognition, dialogue, planning and so on, and it must provide efficient full-body motion control by specifying fewer degrees of freedom than all joints. Our system design provides a common interface among subsystems by implementing each function as a method call through a three-dimensional model of the robot for good integration, and it also provides a motion planning technique based full-body posture sequence and walking pattern generation. Finally, we show integrated behavior experiments with vision, planning and motion control using the developed system software for a life-sized humanoid robot, HRP2.