DocumentCode
2238642
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
Volume
2
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
1640
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241829
Filename
1241829
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