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

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dc.contributor.author Monje Micharet, Concepción Alicia
dc.contributor.author Pierro, Paolo
dc.contributor.author Ramos Cambero, Tamara
dc.contributor.author González-Fierro, Miguel
dc.contributor.author Balaguer, Carlos
dc.date.accessioned 2014-03-20T13:07:05Z
dc.date.available 2014-03-20T13:07:05Z
dc.date.issued 2013-11
dc.identifier.bibliographicCitation Cybernetics and Systems, 2013, 44(8), 663-680.
dc.identifier.issn 0196-9722
dc.identifier.uri http://hdl.handle.net/10016/18604
dc.description.abstract 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.
dc.description.sponsorship This work has been supported by the Comunidad de Madrid Project S2009/DPI-1559/ROBOCITY2030 II, the CYCIT Project PI2004-00325 and the European Project Robot@CWE FP6-2005-IST-5.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher Taylor & Francis
dc.subject.other gait simulation
dc.subject.other HOAP-3
dc.subject.other humanoid robot model
dc.subject.other OpenHRP
dc.subject.other stable walking patterns
dc.title Modeling and Simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform
dc.type article
dc.relation.publisherversion http://dx.doi.org/10.1080/01969722.2013.832095
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi 10.1080/01969722.2013.832095
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 II
dc.type.version submittedVersion
dc.identifier.publicationfirstpage 663
dc.identifier.publicationissue 8
dc.identifier.publicationlastpage 680
dc.identifier.publicationtitle Cybernetics and Systems
dc.identifier.publicationvolume 44
dc.identifier.uxxi AR/0000013979
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