DocumentCode
3087779
Title
Humanoid robot HRP-3
Author
KANEKO, Kenji ; Harada, Kensuke ; Kanehiro, Fumio ; Miyamori, Go ; Akachi, Kazuhiko
Author_Institution
Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
2471
Lastpage
2478
Abstract
In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
Keywords
humanoid robots; legged locomotion; manipulators; robot dynamics; HRP-3; Humanoid Robotics Platform-3; hand; humanoid robot; manipulation; mechanical features; wrist; Fingers; Gears; Grasping; Humanoid robots; Joints; Legged locomotion; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650604
Filename
4650604
Link To Document