Humanoid robot hrp-4-humanoid robotics platform with lightweight and slim body
2011 IEEE/RSJ International Conference on Intelligent Robots and …, 2011•ieeexplore.ieee.org
This paper presents the development of humanoid robotics platform-4 (or HRP-4 for short).
The high-density implementation used for HRP-4C, the cybernetic human developed by
AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7
degrees of freedom for each arm to facilitate object handling and has a slim, lightweight
body with a height of 151 [cm] and weight 39 [kg]. The software platform OpenRTM-aist and
a Linux kernel with the RT-Preempt patch are used in the HRP-4 software system. Design …
The high-density implementation used for HRP-4C, the cybernetic human developed by
AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7
degrees of freedom for each arm to facilitate object handling and has a slim, lightweight
body with a height of 151 [cm] and weight 39 [kg]. The software platform OpenRTM-aist and
a Linux kernel with the RT-Preempt patch are used in the HRP-4 software system. Design …
This paper presents the development of humanoid robotics platform - 4 (or HRP-4 for short). The high-density implementation used for HRP-4C, the cybernetic human developed by AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7 degrees of freedom for each arm to facilitate object handling and has a slim, lightweight body with a height of 151 [cm] and weight 39 [kg]. The software platform OpenRTM-aist and a Linux kernel with the RT-Preempt patch are used in the HRP-4 software system. Design concepts and mechanisms are presented with its basic specification in this paper.
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