HRP-2W: A humanoid platform for research on support behavior in daily life environments
HRP-2W: A humanoid platform for research on support behavior in daily life environments
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DOI：
10.1016/j.robot.2008.10.014
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发表时间：
2009-02
期刊：
影响因子：
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通讯作者：
T. Inamura;K. Okada;S. Tokutsu;N. Hatao;M. Inaba;H. Inoue
中科院分区：
文献类型：
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作者：
T. Inamura;K. Okada;S. Tokutsu;N. Hatao;M. Inaba;H. Inoue
我们介绍了一个面向现实世界的人形机器人，可以支持人类的日常生活活动的概念。在这样的环境中，机器人必须观察人类，理解他们的行为，并支持他们的日常生活任务。特别是，这些机器人必须能够在现实世界中的行为，如处理餐具和交付日常商品的手。我们开发了一个仿人机器人HRP-2 W，它有一个HRP-2 [K]的上半身。Kaneko，F. Kanehiro，S. Kajita，H. Hirukawa、T.川崎，M. Hirata，K. Akachi，T. Isozumi，Humanoid Robot HRP-2，in：Proceedings of the 2004 IEEE International Conference on Robotics & Automation，2004，pp. 1083-1090]和轮模块代替腿，作为实现该目的的研究平台。我们还开发了基本的软件配置，以便将我们的平台与其他研究小组集成。通过实验，我们证明了仿人机器人平台的可行性和软件架构的潜力。
We introduce a concept of a real-world-oriented humanoid robot that can support humans’ activities in daily life. In such environments, robots have to watch humans, understand their behavior, and support their daily life tasks. In particular, these robots must be capable of such real-world behavior as handling tableware and delivering daily commodities by hand. We developed a humanoid robot, HRP-2W, which has an upper body of HRP-2 [K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, T. Isozumi, Humanoid Robot HRP-2, in: Proceedings of the 2004 IEEE International Conference on Robotics & Automation, 2004, pp. 1083–1090] and a wheel module instead of legs, as a research platform to fulfill this aim. We also developed basic software configuration in order to integrate our platform with other research groups. Through experiments, we demonstrated the feasibility of the humanoid robot platform and the potential of the software architecture.