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Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body
Abstract
This paper presents the development of humanoid robotics platform - 4 (or HRP-4 for short). The high-density implementation used for HRP-4C, the cybernetic human developed by AIST, is also applied to HRP-4. HRP-4 has a total of 34 degrees of freedom, including 7 degrees of freedom for each arm to facilitate object handling and has a slim, lightweight body with a height of 151 [cm] and weight 39 [kg]. The software platform OpenRTM-aist and a Linux kernel with the RT-Preempt patch are used in the HRP-4 software system. Design concepts and mechanisms are presented with its basic specification in this paper.
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Cited by
Models, feedback control, and open problems of 3D bipedal robotic walking
Grizzle, J. W., Chevallereau, C., Sinnet, R. W., & Ames, A. D. (2014) · Automatica · doi:10.1016/j.automatica.2014.04.021 · Cited by 321
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K., & Grizzle, J. (2019) · 2019 American Control Conference (ACC) · doi:10.23919/acc.2019.8814833 · Cited by 221
Metadata
- Authors
- Kaneko, K., Kanehiro, F., Morisawa, M., Akachi, K., Miyamori, G., Hayashi, A., & Kanehira, N.
- Venue
- 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2011-09
- Pages
- 4400-4407
- OpenAlex
- W2120693140
- Cited by
- 225
- References
- 0
- FWCI
- 26.45
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body. https://app.cochat.ai/papers/10.1109/iros.2011.6094465
- The paper
- Kaneko, K., Kanehiro, F., Morisawa, M., Akachi, K., Miyamori, G., Hayashi, A., & Kanehira, N. (2011). Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2011.6094465
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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