OpenHRP: Open architecture humanoid robotics platform

被引：152
|
作者：
Kanehiro, F [1 ]
Hirukawa, H [1 ]
Kajita, S [1 ]
机构：
[1] Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki 3058568, Japan
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2004年 / 23卷 / 02期
关键词：
humanoid; HRP; software platform; CORBA; OpenHRP;
D O I：
10.1177/0278364904041324
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents the open architecture humanoid robotics platform (OpenHRP) which consists of a simulator and motion control library of humanoid robots. The binary software developed on OpenHRP can be applied to the real counterpart as is, thank to the proposed hardware abstraction and synchonization mechanism. The compatibility between the simulation and corresponding experiment has been successfully examined. OpenHRP is expected to initiate the exploration of humanoid robotics on open architecture software and hardware.
引用
收藏
页码：155 / 165
页数：11
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