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.
The future needs for robots are starting to change from
factory automation to human friendly robot systems. Since
work environments, houses, and machines are designed to
suit human beings, the use of life-size humanoid robots is
expected to help minimize the cost involved in modification
of the work or home environment and reduce the overall cost
for introducing the use of robots to society. Life-size
humanoid robots are expected to be one of the
next-generation robots. In recent years, private companies as
well as universities and research institutes have been
carrying out active research on such robots.
The development of HRP-4 started with the
expectation that it will accelerate the R&D of
next-generation robot systems necessary for the future robot
industry, such as human-cooperative robots capable of
operating under various environments. The design concepts
of HRP-4 became as follows.
Design concepts:
A) Lightweight and slim body
B) Lower-price (than HRP-2)
C) Lower-power (than HRP-2)
D) Improve object manipulation
E) Expandability
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