Abstract
We have developed a humanoid robot HRP- 1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI of Japan, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two of HRP. However HRP-1 is controlled its legs and arms separately, and it is not suitable for some applications. By modifying the control hardware of HRP-1 and implementing our own control software on it, we made HRP-1S. In this paper, we present several experimental results of HRP-1S.
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