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Home / Advanced Robotics, Volume 27, Number 3

Development of open platform humanoid robot DARwIn-OP

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Authors: Ha, Inyong; Tamura, Yusuke; Asama, Hajime

Source: Advanced Robotics, Volume 27, Number 3, 2013, pp. 223-232(10)

Publisher: Taylor and Francis Ltd

DOI: https://doi.org/10.1080/01691864.2012.754079

To develop an appropriate research platform, this paper presents the design method for a humanoid which has a network-based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwIn-OP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple maintenance, familiar development environment and affordable prices. Not only hardware but also software aspects of open humanoid platform are discussed in this paper.

Keywords: DARwIn-OP; humanoid; open platform

Document Type: Research Article

Affiliations: Department of Precision Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku Tokyo, 113-8656, Japan

Publication date: 01 February 2013

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