Abstract This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) 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 also has a view simulator of humanoid robots on which humanoid robot vision can be studied. The consistency between the simulator and the robot are enhanced by introducing a new algorithm to simulate repulsive force and torque between contacting objects. OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hardware, thanks to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    OpenHRP: Open Architecture Humanoid Robotics Platform


    Beteiligte:


    Erscheinungsdatum :

    01.01.2003


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Open motion control architecture for humanoid robots

    Kaynov, Dmitry | BASE | 2009

    Freier Zugriff

    Social cognitive neuroscience and humanoid robotics

    Chaminade, T. / Cheng, G. | British Library Conference Proceedings | 2009


    I-Droid02 Project: Updating humanoid robotics capabilities

    Darné Marí, Marc | BASE | 2017

    Freier Zugriff