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Volume 23 Issue 4/5- Publication Date: 1 April-May 2004
 
Special Issue on the 8th International Symposium on Experimental Robotics (ISER ’02)
 
Experimental Study of Humanoid Robot HRP-1S
 
K. Yokoi, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara and Hirohisa Hirukawa Intelligent Systems Institute, National Institute of Advanced Industrial Science, and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan
 

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 controls its legs and arms separately, and is not suitable for some applications. We modified the control hardware of HRP-1 and implemented our own control software. The modified robot was designated HRP-1S. The motion controller of HRP-1S is built in accordance with the plug-in architecture. We have developed some plug-ins including a real-time walking pattern generator (KWALK plug-in) and a reflex controller (STABILIZER plug-in) to maintain the dynamic balance of HRP-1S. In this paper, we present the system architecture of the control system of HRP-1S and several experimental results.

 
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Example One: HRP-1S walks without STABILIZER plug-in. (1.2MB)
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Example Two: HRP-1S walks with STABILIZER plug-in. (1.4MB)
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Example Three: Left turn. (4.2MB)
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Example Four: Simultaneous walking straight and turning left. (3.7MB)
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Example Five: Straightforward walking on unknown uneven terrain 1. (3.6MB)
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Example Six: Straightforward walking on unknown uneven terrain 2. (4.2MB)
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Example Seven: Gymnastic motion of HRP-1S. (6.1MB)
 
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