Development of open platform humanoid robot DARwIn-OP

Inyong Ha; Yusuke Tamura; Hajime Asama

doi:10.1080/01691864.2012.754079

Development of open platform humanoid robot DARwIn-OP

Inyong Ha, Yusuke Tamura, Hajime Asama

Research output: Contribution to journal › Article › peer-review

23 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	223-232
Number of pages	10
Journal	Advanced Robotics
Volume	27
Issue number	3
DOIs	https://doi.org/10.1080/01691864.2012.754079
Publication status	Published - 2013 Feb 1
Externally published	Yes

Keywords

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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10.1080/01691864.2012.754079

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abstract = "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.",

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note = "Funding Information: lution from E series [3]. Then, they opened the first version of ASIMO which walked stably at 1.6 km/h to the public in 2000 [4]. A new ASIMO was introduced in 2005 and it could run and walk up and down stairs. Supported by the Ministry of Economics, Commerce and Industry, Japan, the HRP-2 was developed by National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc. from 1998 to 2002 [5]. The HRP-2 was the first humanoid robot which a research institute and a company were involved in. They also developed the HRP-3 in 2007 [6] and the HRP-4 [7] and the HRP-4C in 2009. Different from previous humanoid robots, the HRP-4C is a female humanoid robot which has realistic head, and a figure based on averages from the Japanese body dimension database.",

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AU - Ha, Inyong

AU - Tamura, Yusuke

AU - Asama, Hajime

N1 - Funding Information: lution from E series [3]. Then, they opened the first version of ASIMO which walked stably at 1.6 km/h to the public in 2000 [4]. A new ASIMO was introduced in 2005 and it could run and walk up and down stairs. Supported by the Ministry of Economics, Commerce and Industry, Japan, the HRP-2 was developed by National Institute of Advanced Industrial Science and Technology and Kawada Industries, Inc. from 1998 to 2002 [5]. The HRP-2 was the first humanoid robot which a research institute and a company were involved in. They also developed the HRP-3 in 2007 [6] and the HRP-4 [7] and the HRP-4C in 2009. Different from previous humanoid robots, the HRP-4C is a female humanoid robot which has realistic head, and a figure based on averages from the Japanese body dimension database.

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Development of open platform humanoid robot DARwIn-OP

Abstract

Keywords

ASJC Scopus subject areas

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