Open architecture humanoid robotics platform

  title={Open architecture humanoid robotics platform},
  author={Fumio Kanehiro and Kiyoshi Fujiwara and Shuuji Kajita and Kazuhito Yokoi and Kenji Kaneko and Hirohisa Hirukawa and Yoshihiko Nakamura and Katsu Yamane},
  journal={Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)},
  pages={24-30 vol.1}
  • F. KanehiroKiyoshi Fujiwara K. Yamane
  • Published 7 August 2002
  • Computer Science
  • Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
This paper introduces an open architecture humanoid robotics platform (OpenHRP) 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… 

Figures from this paper

Humanoid robotics platforms developed in HRP

Design and implementation of common platform for small humanoid robots

This paper proposes a design of common platform for small humanoid robots on RT-Middleware which is used to build intelligent robotic systems and investigated the requirements of the system to control motion-based humanoid robots.

Experimental evaluation of the dynamic simulation of biped walking of humanoid robots

  • H. HirukawaF. Kanehiro K. Harada
  • Computer Science, Engineering
    2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
  • 2003
This paper attempts to answer a frequently asked question "do the dynamic simulations and the experiments of biped walking of humanoid robots correspond?", using OpenHRP and humanoid robots HRP-1S andHRP-2P.

Experimental Study of Humanoid Robot HRP-1S

The system architecture of the control system of HRP-1S, a humanoid robot that is capable of simultaneous whole body motion control, is presented and several experimental results are presented.

Realization of Dynamics Simulator Embedded Robot Brain for Humanoid Robots

  • T. OguraK. OkadaM. Inaba
  • Computer Science
    Proceedings 2007 IEEE International Conference on Robotics and Automation
  • 2007
The new robot programming environment in which robot motion programming environment and dynamics simulator are integrated allows robot motion programs to include simulation descriptions and a new implementation of simulation that is composed by simulation modules is presented.

Experimental Study of Humanoid Robot Hrp-1s Experimental Study of Humanoid Robot Hrp-1s

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

Integrated system software for HRP2 humanoid

  • K. OkadaT. Ogura H. Inoue
  • Computer Science
    IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
  • 2004
The system design provides a common interface among subsystems by implementing each function as a method call through a three-dimensional model of the robot for good integration, and it also provides a motion planning technique based full-body posture sequence and walking pattern generation.

Development of Vision System on Humanoid Robot HRP-2

This work designed a stereo camera module on a humanoid robot, developed some calibration methods and incorporated 3D image processing algorithm into the robot and showed a possibility to apply a humanoid robots for field of construction.

Walking biped humanoids that perform manual labour

  • H. Hirukawa
  • Computer Science
    Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences
  • 2006
The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms,

The NAO humanoid: a combination of performance and affordability

The autonomous humanoid robot called NAO that is built by the French company Aldebaran-Robotics is an open and easy-to-handle platform where the user can change all the embedded system software or just add some applications to make the robot adopt specific behaviours.



Humanoid robot simulator for the METI HRP Project

Developmental software environment that is applicable to small-size humanoids and life-size humanoids

The developmental software environment for humanoids has a hardware concealment function which saves the trouble with hardware improvements, an incremental expansion function which supports a long-term development by many developers, and a centralised management of body information which enables the robots to share software among different bodies.

Dynamics computation of structure-varying kinematic chains for motion synthesis of humanoid

  • K. YamaneYoshihiko Nakamura
  • Engineering
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
The developed computation will provide the general algorithm for the computation of motion and control of humanoid robots and computer graphic human figures without switching among algorithms for different kinematic chains.

Dynamic walking pattern generation for a humanoid robot based on optimal gradient method

  • K. NagasakaH. InoueM. Inaba
  • Computer Science
    IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028)
  • 1999
The proposed OGM (optimal gradient method) could generate various dynamic walking patterns such as steps forward, backward and aside or turning, and stable walks on the life-size humanoid 'H5' were realized by applying them to it.

HRP: Humanoid Robotics Project of MITI

通商産業省工業技術院(平 成13年1月 か ら経済産業省) は,産 業技術応用研究開発プ ロジェクトのテーマとして平 成10年 度から5年 間の予定で 「人間協調 ・共存型ロボ ット システム」の研究開発を実施 中である.こ のプ ロジェクト は,プ ラットフォーム提供型とい う新しい方式で実施 され ている.こ れは,プ ロジェクトの最初の2年 間で共通の基 盤

OBBTree: a hierarchical structure for rapid interference detection

A data structure and an algorithm for efficient and exact interference detection amongst complex models undergoing rigid motion that can robustly and accurately detect all the contacts between large complex geometries composed of hundreds of thousands of polygons at interactive rates are presented.

Calibrated computer graphics: a new approach to realistic image synthesis based on camera calibration

A new scheme for image synthesis that is called "calibrated computer graphics" is proposed and a method to synthesize blurred images based on camera parameters obtained by calibrating a real camera is presented.

Object shape and reflectance modeling from observation

A number of techniques have been developed for modeling object shapes by observing real objects but in most cases, modeled reflectance properties are too simple or too complicated to be used for synthesizing realistic images of the object.

Development of Linux which has Advanced Real-Time Processing Function

  • In Proc. 16th Annual Conference of Robotics Society of Japan,
  • 1998

Humanoid Robotics Project of MITI