HRP-2W: A Humanoid Platform for Research on Support Behavior in Daily life Environments
نویسندگان
چکیده
In this paper, we introduced a concept of realworld oriented humanoid robot that can support humans’ daily life behavior. Such realworld oriented robots have to behold humans, understand behaviors of humans and support daily life tasks. Especially, realworld behavior such as handling of table wares, delivering daily commodities by hand and so on, are required. We developed a humanoid robot HRP-2W, which has a wheel module instead of legs, is developed as a reseach platform for the aim. We also developed basic software configuration in order to some research groups are easily integrated. Through experiments, we show feasibility of the humanoid robot platform and availability of software architecture for project fusion.
منابع مشابه
Design of prototype humanoid robotics platform for HRP
This paper presents a prototype humanoid robotics platform developed for HRP-2. HRP-2 is a new humanoid robotics platform, which we have been developing in phase two of HRP. HRP is a humanoid robotics project, which has been lunched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HR...
متن کاملExperimental 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 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 co...
متن کاملDesign and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development
This paper presents an advanced leg module developed for, HRP-2, a new humanoid robotics platform, which has been developed in the phase two of the Humanoid Robotics Project(HRP), a five year program sponsored by the Ministry of Economy, Trade and Industry of Japan (METI) from 1998FY to 2002FY. The biped locomotion ability of HRP-1, the humanoid robotics platform developed in the phase 1 of HRP...
متن کاملPlanning Support Contact-Points for Acyclic Motions and Experiments on HRP-2
This paper presents improvements in contact-before-motion planning for humanoid robots that enables to find a path in very constrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the plann...
متن کامل3 Development of Biped Humanoid Robots at the Humanoid Robot Research
Recently, many studies have focused on the development of humanoid biped robot platforms. Some of the well-known humanoid robots are Honda’s humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE. Given that humanoids are complex, expensive and unstable, designers face difficulties in constructing the mechanical body, integrating the hardw...
متن کامل