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The International Journal of Robotics Research
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Experimental Study of Humanoid Robot HRP-1S

Kazuhito Yokoi

Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan Kazuhito.Yokoi{at}aist.go.jp

Fumio Kanehiro

Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

Kenji Kaneko

Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

Shuuji Kajita

Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

Kiyoshi Fujiwara

Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

Hirohisa Hirukawa

Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

We have developed a humanoid robot HRP-1S that is capable of simultaneous whole body motion control. In phase one of the Humanoid Robotics Project (HRP) of the Ministry of Economy, Trade and Industry of Japan, Honda R&D Co. Ltd has produced humanoid robot HRP-1 as a humanoid research platform to ease the development of good applications for humanoid robots in phase two of HRP. However, HRP-1 controls its legs and arms separately, and is not suitable for some applications. We modified the control hardware of HRP-1 and implemented our own control software. The modified robot was designated HRP-1S. The motion controller of HRP-1S is built in accordance with the plug-in architecture. We have developed some plug-ins including a real-time walking pattern generator (KWALK plug-in) and a reflex controller (STABILIZER plug-in) to maintain the dynamic balance of HRP-1S. In this paper, we present the system architecture of the control system of HRP-1S and several experimental results.

Key Words: humanoid robot • Humanoid Robotics • Project (HRP) • plug-in architecture • control system

The International Journal of Robotics Research, Vol. 23, No. 4-5, 351-362 (2004)
DOI: 10.1177/0278364904042194
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