OpenHRP: Open Architecture Humanoid Robotics Platform

This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) 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 also has a view simulator of humanoid robots on which humanoid robot vision can be studied. The consistency between the simulator and the robot are enhanced by introducing a new algorithm to simulate repulsive force and torque between contacting objects. OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hardware, thanks to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.