Experimental Study of Humanoid Robot HRP-1S  

Oleh:

Yokoi, Kazuhito ; Kanehiro, Fumio ; Kaneko, Kenji ; Kajita, Shuuji ; Fujiwara, Kiyoshi ; Hirukawa, Hirohisa

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 4-5 (Apr. 2004), page 351-362.
Topik: humanoid robot; Humanoid Robotics Project (HRP); plug-in architecture; control system
Fulltext: 351.pdf (701.7KB)

Isi artikel

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.

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