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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.
Published in:
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Date of Conference: 25-30 Sept. 2011
- Page(s):
- 4400 - 4407
- ISSN :
- 2153-0858
- Print ISBN:
- 978-1-61284-454-1
- INSPEC Accession Number:
- 12317941
- Conference Location :
- San Francisco, CA
- Digital Object Identifier :
- 10.1109/IROS.2011.6094465
- Product Type:
- Conference Publications
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