OpenHRP: Open architecture humanoid robotics platform

被引：153

作者：

Kanehiro, F ^{[1
]}

Hirukawa, H ^{[1
]}

Kajita, S ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki 3058568, Japan

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2004年 / 23卷 / 02期

关键词：

humanoid; HRP; software platform; CORBA; OpenHRP;

D O I：

10.1177/0278364904041324

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 synchonization 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.

引用

页码：155 / 165

页数：11

共 23 条

[1]

Baraff D., 1989, Computer Graphics, V23, P223, DOI 10.1145/74334.74356

[2] THE ARCHITECTURE OF NEWTON, A GENERAL-PURPOSE DYNAMICS SIMULATOR [J].

CREMER, JF ;

STEWART, AJ .

PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :1806-1811

[3]

GOTTSCHALK S, 1996, P ACM SIGGR 96 NEW O

[4] AUTOMATIC-DETERMINATION OF POSSIBLE VELOCITY AND APPLICABLE FORCE OF FRICTIONLESS OBJECTS IN CONTACT FROM A GEOMETRIC MODEL [J].

HIRUKAWA, H ;

MATSUI, T ;

TAKASE, K .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1994, 10 (03) :309-322

[5] COEFFICIENT OF RESTITUTION INTERPRETED AS DAMPING IN VIBROIMPACT [J].

HUNT, KH ;

CROSSLEY, FRE .

JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME, 1975, 42 (02) :440-445

[6]

INOUE H, 2000, P 1 IEEE RAS INT C H

[7]

INOUE H, 2001, P 32 ISR SEOUL KOR

[8]

ISHIWATA Y, 1998, P 16 ANN C ROB SOC J, P355

[9]

KAJITA S, 2001, P 2002 ICRA, P31

[10]

KAJITA S, 2001, P 2001 IROS MAUI HAW, P259

← 1 2 3 →