OpenHRP: Open Architecture Humanoid Robotics Platform

Abstract

This paper introduces an open architecture hu- manoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and con- sists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. OpenHRP also has a view simulator of humanoid robots on which humanoid robot vision can be studied. The consis- tency between the simulator and the robot are enhanced by introducing a new algorithm to simulate repulsive force and torque between contacting objects. OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hard- ware, thanks to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.