Modeling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform

C. A. MONJE; P. PIERRO; T. RAMOS; M. GONZALEZ-FIERRO; C. BALAGUER

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Modeling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform

机译：OpenHRP3平台中人形机器人HOAP-3的建模与仿真

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摘要

The aim of this work is to model and simulate the humanoid robot HOAP-3 in the OpenHRP3 platform. Our purpose is to create a virtual model of the robot so that different motions and tasks can be tested in different environments. This will be the first step before testing the motion patterns in the real HOAP-3. We use the OpenHRP3 platform for the creation and validation of the robot model and tasks. The procedure followed to reach this goal is detailed in this article. In order to validate our experience, different walking motions are tested and the simulation results are compared with the experimental ones.

机译：这项工作的目的是在OpenHRP3平台中对人形机器人HOAP-3进行建模和仿真。我们的目的是创建机器人的虚拟模型，以便可以在不同的环境中测试不同的动作和任务。这是测试真实HOAP-3中运动模式之前的第一步。我们使用OpenHRP3平台来创建和验证机器人模型和任务。本文详细介绍了达到此目标所遵循的过程。为了验证我们的经验，测试了不同的步行动作，并将模拟结果与实验结果进行了比较。

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来源
《Cybernetics and Systems》 |2013年第8期|663-680|共18页
作者
C. A. MONJE; P. PIERRO; T. RAMOS; M. GONZALEZ-FIERRO; C. BALAGUER;
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作者单位

Systems Engineering and Automation Department, University Carlos Ⅲ of Madrid, Avenida Universidad 30, 28911 Leganes, Madrid, Spain;

Systems Engineering and Automation Department, University Carlos IIl of Madrid, Leganes, Madrid, Spain;

Systems Engineering and Automation Department, University Carlos IIl of Madrid, Leganes, Madrid, Spain;

Systems Engineering and Automation Department, University Carlos IIl of Madrid, Leganes, Madrid, Spain;

Systems Engineering and Automation Department, University Carlos IIl of Madrid, Leganes, Madrid, Spain;

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原文格式 PDF
正文语种 eng
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关键词
gait simulation; HOAP-3; humanoid robot model; OpenHRP; stable walking patterns;

机译：步态模拟HOAP-3;人形机器人模型;OpenHRP;稳定的步行方式;

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专利

1. From human motion capture to humanoid locomotion imitation Application to the robots HRP-2 and HOAP-3 [J] . Luc Boutin, Antoine Eon, Said Zeghloul, Robotica . 2011,第PTa2期

机译：从人体动作捕捉到仿人运动模仿在机器人HRP-2和HOAP-3中的应用
2. Walking motion design of humanoid robots in RoboCup3D simulation platform [J] . Zhiwei Liang, Ping Shen, Xuejun Li International Journal Of Modelling & Simulation . 2015,第1期

机译：RoboCup3D仿真平台中人形机器人的步行运动设计
3. DEVELOPMENT OF HUMANOID ROBOT PLATFORM KHR-2 (KAIST HUMANOID ROBOT 2) [J] . ILL-WOO PARK, JUNG-YUP KIM, SEO-WOOK PARK, International journal of humanoid robotics . 2005,第4期

机译：人形机器人平台KHR-2（KAIST人形机器人2）的开发
4. Development of small humanoid robot HOAP-3 [C] . 舘野茂夫, 木村公一, 石川日吉, 日本ロボット学会学術講演会 . 2005

机译：小型人形机器人HOAP-3的发展
5. A Sociable Humanoid Autonomous Robotic Platform (the SHARP Project): An evaluation of the G.E.N.E.S.I.S. robot as an interactive consumer robotic platform. [D] . Rick, Jeffrey J. 2012

机译：社交型人形自主机器人平台（SHARP项目）：对G.E.N.E.S.I.S.的评估机器人作为交互式消费者机器人平台。
6. Comparative Study of SSVEP- and P300-Based Models for the Telepresence Control of Humanoid Robots [O] . Jing Zhao, Wei Li, Mengfan Li -1

机译：基于SSVEP和P300的人形机器人远程呈现控制模型的比较研究
7. Modeling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform [O] . Monje Micharet Concepción Alicia, Pierro Paolo, Ramos Cambero Tamara, 2013

机译：OpenHRp3平台中人形机器人HOap-3的建模与仿真

Modeling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform

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