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Distributed Computation Environments that Accelarate Humanoid Robotics Research and Applications

The HRP Virtual Platform Project
  • Yoshihiko Nakamura
  • Katsu Yamane
  • Hirohisa Hirukawa
  • Fumio Nagashima
Conference paper

Abstract

The Humanoid Robot Project being supported by the MITI, Japan, started in the fall of 1998 and will end the first phase in March 2000. The mission of the phase is to set up the platforms to accelarate further developments of research and to induce the emergence of various practical applications. To meet the goal of mission three task forces were organized, namely, the Hardware Platform Taskforce, the Tele-operation Platform Taskforce, and the Virtual Platform Taskforce. In this paper, we report the development by the Virtual Platform Taskforce, and describe the networked computational environments that have been established and have just started its operation. The computational environments include the computational engine for dynamics simulation, the computation engine of geometric interference, the sensor signal simulator, the motion viewer, and the scheduler that controls communication between the modules distributed in the network. Using an internet web brawser one can execute one’s own control programs for one’s own models of humanoids, see their motions, and measure their sensor signals.

Keywords

Humanoid Robot Kinematic Chain Virtual Link Common Object Request Broker Architecture Vision Simulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    K. Yamane and Y. Nakamura. Dynamics Computation of Structure-Varying Kinematic Chains for Motion Synthesis of Humanoid. In Proceedings of IEEE International Conference on Robotics and Automation, pages 714–721, 1999.Google Scholar
  2. [2]
    S. Gottschalk, M.C. Lin, and D. Manocha. OBB Tree: A Hierarchical Structure for Rapid Interface Detection. In Proceedings of SIGGRAPH ’86, 1996.Google Scholar

Copyright information

© Springer-Verlag London 2000

Authors and Affiliations

  • Yoshihiko Nakamura
    • 1
  • Katsu Yamane
    • 1
  • Hirohisa Hirukawa
    • 2
  • Fumio Nagashima
    • 3
  1. 1.Dept. of Mechano-InformaticsUniv. of TokyoTokyoJapan
  2. 2.Electrotechnical LaboratoryTsukubaJapan
  3. 3.Fujitsu Laboratories Ltd.Kawasaki-shiJapan

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