Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body

  title={Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body},
  author={Kenji Kaneko and Fumio Kanehiro and Mitsuharu Morisawa and Kazuhiko Akachi and Gou Miyamori and Atsushi Hayashi and Noriyuki Kanehira},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents the development of humanoid robotics platform - 4 (or HRP-4 for short). The high-density implementation used for HRP-4C, the cybernetic human developed by AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7 degrees of freedom for each arm to facilitate object handling and has a slim, lightweight body with a height of 151 [cm] and weight 39 [kg]. The software platform OpenRTM-aist and a Linux kernel with the RT-Preempt patch are used in the… CONTINUE READING
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