Humanoid robotics platforms developed in HRP

Hirukawa, Hirohisa; Kanehiro, Fumio; Kaneko, Kenji; Kajita, S.; Fujiwara, Kiyoshi; Kawai, Yoshihiro; Tomita, Fumiaki; Hirai, Seiji; Tanie, K.; Isozumi, Takakatsu; Akachi, Kazuhiko; Kawasaki, T.; Ota, Shigehiko; Yokoyama, Kazuhiko; Handa, Hiroyuki; Fukase, Yutaro; Maeda, Junichiro; Nakamura, Yoshihiko; Tachi, Susumu; Inoue, H.

doi:10.1016/j.robot.2004.07.007

Cited by 124 publications

(59 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The proposed mechanism includes a hip, femur, knee, and fibula. Companies such as Honda Motors, Kawada Industries and Sony played a major roll in the competition towards developing state of the art legged robots, see (Hirai et al, 1998;Hirose et al, 2001;Kaneko et al, 2004;Kuroki et al, 2001;Hirukawa et al, 2004). The proposed designs generally focus on creating the desired walking gait while overlooking the shape of the leg.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

Batayneh¹,

Al-Araidah²,

Malkawi³

2013

MER

View full text Add to dashboard Cite

The article presents a single degree-of-freedom (DOF) Stephenson III mechanical reproduction of the shape and movement of the human leg. Type and motion synthesis of the mechanism are achieved through qualitative and interactive design heuristics. Qualitative considerations include the slim straight shape of the human leg to help keeping the center of mass of the body far from ground. Moreover, the driving force and controllers of the walking apparatus are located within the upper part of the leg. We utilize Working Model software package to test and tune the segments of the mechanism to arrive at the desired walking gait. The resulting mechanism is a reproduction of the human walking apparatus with minimum control.

show abstract

Section: Introductionmentioning

confidence: 99%

Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

Batayneh¹,

Al-Araidah²,

Malkawi³

2013

MER

View full text Add to dashboard Cite

show abstract

“…A humanoid robot is a robot with an overall appearance based on that of the human body (Hirai et al, 1998, Hirukawa et al, 2004. Humanoid robots are created to imitate some of the same physical and mental tasks that humans undergo daily.…”

Section: Introductionmentioning

confidence: 99%

Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

Yussof¹,

Yamano²,

Nasu³

et al. 2006

Mobile Robots: Towards New Applications

View full text Add to dashboard Cite

“…In this experiment, we build an environmental model of our laboratory, movable object model such as chairs, trash boxes and tables, and a robot model that has the same kinematics and joint limit information of the HRP2 humanoid robot [17] which displayed in Fig.10 . Fig.11 shows environment manipulation task graph.…”

Section: Experimental Results Of Environmentmentioning

confidence: 99%

Environment manipulation planner for humanoid robots using task graph that generates action sequence

Okada¹,

Haneda²,

Nakai³

et al.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

View full text Add to dashboard Cite

Abstract-In this paper, we describe a planner for a humanoid robot that is capable of finding a path in an environment with movable objects, whereas previous motion planner only deal with an environment with fixed objects. We address an environment manipulation problem for a humanoid robot that finds a walking path from the given start location to the goal location while displacing obstructing objects on the walking path. This problem requires more complex configuration space than previous researches using a mobile robot especially in a manipulation phase, since a humanoid robot has many degree of freedoms in its arm than a forklift type robot. Our approach is to build environment manipulation task graph that decompose the given task into subtasks which are solved using navigation path planner or whole body motion planner. We also propose a standing location search and a displacing obstacle location search for connecting subtasks. Efficient method to solve manipulation planning that rely on whole body inverse kinematics and motion planning technology is also shown. Finally, we show experimental results in an environment with movable objects such as chairs and trash boxes. The planner finds an action sequence consists of walking paths and manipulating obstructing objects to walk from the start position to the goal position.

show abstract

Humanoid robotics platforms developed in HRP

Cited by 124 publications

References 12 publications

Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle

Environment manipulation planner for humanoid robots using task graph that generates action sequence

Contact Info

Product

Resources

About