Open Architecture Humanoid Robotics Platform: OpenHRP

Fumio Kanehiro; Kiyoshi Fujiwara; Shuuji Kajita; Kazuhito Yokoi; Kenji Kaneko; Hirohisa Hirukawa; Yoshihiko Nakamura; Katsu Yamane

doi:10.7210/jrsj.21.785

Fumio Kanehiro, Kiyoshi Fujiwara, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, Hirohisa Hirukawa, Yoshihiko Nakamura, Katsu Yamane

Author information

Fumio Kanehiro
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology
Kiyoshi Fujiwara
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology
Shuuji Kajita
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology
Kazuhito Yokoi
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology
Kenji Kaneko
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology
Hirohisa Hirukawa
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology
Yoshihiko Nakamura
The University of Tokyo
Katsu Yamane
The University of Tokyo

Keywords: Humanoid, Open Architecture, Software Platform, CORBA, ART-Linux

JOURNAL FREE ACCESS

2003 Volume 21 Issue 7 Pages 785-793

DOI https://doi.org/10.7210/jrsj.21.785

Details

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 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.

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