Development of open platform humanoid robot DARwIn-OP

Inyong Ha, Yusuke Tamura, Hajime Asama

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


To develop an appropriate research platform, this paper presents the design method for a humanoid which has a network-based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwIn-OP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple maintenance, familiar development environment and affordable prices. Not only hardware but also software aspects of open humanoid platform are discussed in this paper.

Original languageEnglish
Pages (from-to)223-232
Number of pages10
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 2013 Feb 1
Externally publishedYes


  • DARwIn-OP
  • humanoid
  • open platform

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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