Title :
Experimental evaluation of the dynamic simulation of biped walking of humanoid robots
Author :
Hirukawa, Hirohisa ; Kanehiro, Fumio ; Kajita, Shuji ; Fujiwara, Kiyoshi ; YOKOI, Kazuhito ; KANEKO, Kenji ; Harada, Kensuke
Author_Institution :
Nat. Inst. of Adv. Ind. Sci & Technol., Tsukuba, Japan
Abstract :
We have developed a software platform, called OpenHRP, for humanoid robotics which consists of a dynamic simulator and motion control library for humanoid robots. This paper attempts to answer a frequently asked question "do the dynamic simulations and the experiments of biped walking of humanoid robots correspond?". Using OpenHRP and humanoid robots HRP-1S and HRP-2P, the comparisons between the simulations and experiments are shown at various aspects.
Keywords :
legged locomotion; motion control; robot dynamics; HRP-1S; HRP-2P; OpenHRP; biped walking robots; dynamic simulator; humanoid robotics platform; humanoid robots; motion control; software platform; Analytical models; Computational modeling; Computer industry; Humanoid robots; Industrial control; Java; Legged locomotion; Motion control; Service robots; Torque;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241829
