OpenHRP: Open Architecture Humanoid Robotics Platform

• Fumio Kanehiro

• Hirohisa Hirukawa

• Shuuji Kajita

  National Institute of Advanced Industrial Science and Technology,1-1-1 Umezono, Tsukuba,Ibaraki, 305-8568 Japan

抄録

This paper presents the open architecture humanoid robotics platform (OpenHRP) which consists of a simulator and motion control library of humanoid robots. The binary software developed on OpenHRP can be applied to the real counterpart as is, thank to the proposed hardware abstraction and synchronization mechanism. The compatibility between the simulation and corresponding experiment has been successfully examined. OpenHRP is expected to initiate the exploration of humanoid robotics on open architecture software and hardware.

収録刊行物

• The International Journal of Robotics Research

  The International Journal of Robotics Research 23 (2), 155-165, 2004-02

  SAGE Publications

キーワード

• Applied Mathematics
• Artificial Intelligence
• Electrical and Electronic Engineering
• Mechanical Engineering
• Modeling and Simulation
• Software

詳細情報

• CRID: 1363388843495891072
• NII論文ID: 30006463432
• DOI: 10.1177/0278364904041324
• ISSN: 17413176
• ISSN: 02783649
• Web Site: http://journals.sagepub.com/doi/pdf/10.1177/0278364904041324
• データソース種別:
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  • CiNii Articles