Development of Humanoid Robot "HRP-3"

摘要

In this paper, the development of humanoid robot HRP-3 is presented. HRP-3 is a human-size humanoid robot developed as the succeeding model of HRP-2 and stands for Humanoid Robotics Platform-3. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a humanoid robot in a real environment is also improved. We also include information on mechanisms preventing the penetration of dust or splash together with the cooling system, the newly developed hand, and specifications of HRP-3. Some demonstration results using HRP-3 are also presented.