Humanoid robotics platforms developed in HRP

被引：98
作者：
Hirukawa, H
Kanehiro, F
Kaneko, K
Kajita, S
Fujiwara, K
Kawai, Y
Tomita, F
Hirai, S
Tanie, K
Isozumi, T
Akachi, K
Kawasaki, T
Ota, S
Yokoyama, K
Handa, H
Fukase, Y
Maeda, J
Nakamura, Y
Tachi, S
Inoue, H
机构：
[1] AIST, Tsukuba, Ibaraki 3058568, Japan
[2] Kawada Ind Inc, Hagamachi, Tochigi 3213325, Japan
[3] Yaskawa Elect Co, Kitakyushu, Fukuoka 8038530, Japan
[4] Shimizu Co, Tokyo 1058007, Japan
[5] Univ Tokyo, Bunkyo Ku, Tokyo 1138656, Japan
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 48卷 / 04期
关键词：
humanoid robotics platforms; HRP; biped locomotion;
D O I：
10.1016/j.robot.2004.07.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents humanoid robotics platform that consists of a humanoid robot and an open architecture software platform developed in METI's Humanoid Robotics Project (HRP). The final version of the robot, called HRP-2, has 1540 mm height, 58 kg weight and 30 degrees of the freedom. The software platform includes a dynamics simulator and motion controllers of the robot for biped locomotion, falling and getting up motions. The platform has been used to develop various applications and is expected to initiate more humanoid robotics research. (C) 2004 Elsevier B.V. All rights reserved.
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收藏
页码：165 / 175
页数：11
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