Loading…

Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body

This paper presents the development of humanoid robotics platform - 4 (or HRP-4 for short). The high-density implementation used for HRP-4C, the cybernetic human developed by AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7 degrees of freedom for each arm to fa...

Full description

Saved in:
Bibliographic Details
Main Authors: Kaneko, K., Kanehiro, F., Morisawa, M., Akachi, K., Miyamori, G., Hayashi, A., Kanehira, N.
Format: Conference Proceeding
Language:English
Subjects:
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents the development of humanoid robotics platform - 4 (or HRP-4 for short). The high-density implementation used for HRP-4C, the cybernetic human developed by AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7 degrees of freedom for each arm to facilitate object handling and has a slim, lightweight body with a height of 151 [cm] and weight 39 [kg]. The software platform OpenRTM-aist and a Linux kernel with the RT-Preempt patch are used in the HRP-4 software system. Design concepts and mechanisms are presented with its basic specification in this paper.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2011.6094465