Experimental evaluation of the dynamic simulation of biped walking of humanoid robots

We have been developing a software platform, called OpenHRP, for humanoid robotics which consists of a dynamic simulator and motion control library for humanoid robots. This paper tries to answer a frequently asked question “do the dynamic simulations and the experiments of biped walking of humanoid robots correspond?”. Using OpenHRP and humanoid robots HRP1S and HRP-2P, the comparisons between the simulations and experiments are shown at various aspects.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Hirohisa Hirukawa, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kazuhito Yokoi, Kenji Kaneko, Kensuke Harada
• Keywords: Humanoid Robots, Humanoid Robots Correspond, Humanoid Robots Hrp1s, ICRA 2003, Robotics