Experimental Study of Humanoid Robot HRP-1S-Reference-Cited by-同舟云学术

Experimental Study of Humanoid Robot HRP-1S

Published:2004-04 Issue:4-5 Volume:23 Page:351-362
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Yokoi Kazuhito¹,Kanehiro Fumio²,Kaneko Kenji²,Kajita Shuuji²,Fujiwara Kiyoshi²,Hirukawa Hirohisa²

Affiliation:

1. Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

2. Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

Abstract

We have developed a humanoid robot HRP-1S that is capable of simultaneous whole body motion control. In phase one of the Humanoid Robotics Project (HRP) of the Ministry of Economy, Trade and Industry of Japan, Honda R&D Co. Ltd has produced humanoid robot HRP-1 as a humanoid research platform to ease the development of good applications for humanoid robots in phase two of HRP. However, HRP-1 controls its legs and arms separately, and is not suitable for some applications. We modified the control hardware of HRP-1 and implemented our own control software. The modified robot was designated HRP-1S. The motion controller of HRP-1S is built in accordance with the plug-in architecture. We have developed some plug-ins including a real-time walking pattern generator (KWALK plug-in) and a reflex controller (STABILIZER plug-in) to maintain the dynamic balance of HRP-1S. In this paper, we present the system architecture of the control system of HRP-1S and several experimental results.

Publisher

SAGE Publications

Subject

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

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364904042194

Reference3 articles.

1. Passive Dynamic Walking

2. On the stability of anthropomorphic systems

3. Gait synthesis for the SD-2 biped robot to climb sloping surface

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