Humanoid robot HRP-3

In this paper, the development of humanoid robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size humanoid robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.

[1]  Fumio Kanehiro,et al.  Cooperative works by a human and a humanoid robot , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[2]  Jun-Ho Oh,et al.  Mechanical design of humanoid robot platform KHR-3 (KAIST Humanoid Robot 3: HUBO) , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[3]  Fumio Kanehiro,et al.  Development of Multi-fingered Hand for Life-size Humanoid Robots , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[4]  Masayuki Inaba,et al.  Design and development of research platform for perception-action integration in humanoid robot: H6 , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[5]  Kazuo Hirai,et al.  Production of a Robot Platform and Development of Intelligent Robot Hands , 2001 .

[6]  Joshua Mehling,et al.  Centaur: NASA's Mobile Humanoid Designed for Field Work , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[7]  Kiyoshi Hoshino,et al.  Stable pinching with fingertips in humanoid robot hand , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Kazuhito Yokoi,et al.  Design of advanced leg module for humanoid robotics project of METI , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[9]  Michael Gienger,et al.  Sensor and control design of a dynamically stable biped robot , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[10]  Yoshihiro Kawai,et al.  3D Object Recognition in Cluttered Environments by Segment-Based Stereo Vision , 2004, International Journal of Computer Vision.

[11]  Masahiro Fujita,et al.  A small biped entertainment robot exploring attractive applications , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[12]  Shuuji Kajita,et al.  Slip observer for walking on a low friction floor , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Toshikazu Kawasaki,et al.  Design of prototype humanoid robotics platform for HRP , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Soya Takagi,et al.  Toyota Partner Robots , 2006 .

[15]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[16]  Friedrich Pfeiffer,et al.  Leg Design for a Humanoid Walking Robot , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[17]  Toshikazu Kawasaki,et al.  Design and experiments of advanced leg module (HRP-2L) for humanoid robot (HRP-2) development , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Masahiro Fujita,et al.  A small biped entertainment robot , 2002, IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003.

[19]  Friedrich Pfeiffer,et al.  Towards the design of a biped jogging robot , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[20]  Kazuhito Yokoi,et al.  The first humanoid robot that has the same size as a human and that can lie down and get up , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[21]  Fumio Kanehiro,et al.  Humanoid robot HRP-2 , 2008, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[22]  K. Hirai,et al.  Current and future perspective of Honda humamoid robot , 1997 .

[23]  M. Hirose,et al.  Development of Humanoid Robot ASIMO , 2001 .

[24]  Shuuji Kajita,et al.  ZMP analysis for arm/leg coordination , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[25]  Fumio Kanehiro,et al.  Distributed Control System of Humanoid Robots based on Real-time Ethernet , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[27]  Shuuji Kajita,et al.  Development of humanoid robot HRP-3P , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..