History of Robotics Research and Development of Japan2001BusinessHOAP: Humanoid for Open Architecture Platform

Takashi UchiyamaFujitsu Laboratories Ltd.
Toshihiko MoritaFujitsu Laboratories Ltd.
RIADH ZaierFujitsu Laboratories Ltd.
Shinji KandaFujitsu Laboratories Ltd.
Yuichi MuraseFujitsu Laboratories Ltd.
Fumio NagashimaFujitsu Laboratories Ltd.
Yusuke YasukawaFujitsu Laboratories Ltd.
Keiju OkabayashiFujitsu Laboratories Ltd.
Miwa UekiFujitsu Laboratories Ltd.
Katsushi SakaiFujitsu Laboratories Ltd.
Mitsuaki AoyamaMiyachi Systems Corporation
Shigeo TatenoMiyachi Systems Corporation
Koichi KimuraMiyachi Systems Corporation
Hiyoshi IshikawaMiyachi Systems Corporation
Keita OginoMiyachi Systems Corporation
Minoru YoshinoMiyachi Systems Corporation
Masashi KobayashiMiyachi Systems Corporation
The HOAP series robots are an advanced humanoid robot platform. HOAP is an abbreviation for "Humanoid for Open Architecture Platform." HOAP was designed for wide application in research and development of robotic technologies. Weighing 6kg and standing 48cm tall, the light and compact HOAP-1 and its accompanying simulation software can be used for developing motion control algorithms in areas such as two-legged walking and in research on human-to-robot communication interfaces. Fujitsu is disclosing HOAP-1’s internal interface architecture to allow users to freely develop their own programs. The robot's basic simulation software enables virtual trial-runs of their control programs prior to actual implementation. The wide range of uses as well as the safe and efficient program development environment make HOAP-1 an ideal tool for research and development work in robotics. The basic simulation software and user-developed programs are designed to run on RT-Linux on an operating command PC, which communicates with the robot through a USB interface. The robot's internal sensors and actuators (motors) also use the USB interface and can be easily expanded according to your needs. HOAP-3 is a new model with strengthened cooperation functions with the external world, such as communication and image recognition functions. Since the sale of the first HOAP-1 in 2001, the HOAP Series Humanoid Robots have targeted the mechanical engineering departments of universities as well as robotics research areas, particularly in the field of controls engineering for research and development. The HOAP-3 is portable, measuring only 60cm in height and weighing a mere 8.8 kg, the same as its predecessor, the HOAP-2 which has been on the market since 2003. HOAP-3 was developed with strengthened cooperation functions such as a communication function, an image recognition function and a new exterior. HOAP-3 can be used for robot communication research, such as a dialog with humans. Research and development performed on the robot include collaborative vision and operation functions through an added camera, microphone, speaker, LED for expression, and vocals. The 9th Technical Innovations Awards by RSJ in 2004. The 2nd Robot Award in 2007.
研究用小型ヒューマノイドロボットプラットフォーム HOAP
Humanoid robot HOAP



Related papers

[1] JIANG SHAN et al.: “Biologically Inspired Spinal locomotion Controller for Humanoid Robot”, Proc. of 19th Annual Conf. of the RSJ, 2D16, 2001.

[2] ZAIER RIADH et al.: “Recurrent Neural Network Language for Robot Learning”, Proc. of 20th Annual Conf. of the RSJ, 1C32, 2002.

[3] JIANG SHAN et al.: “Neural Locomotion Controller Design and Implementation for Humanoid Robot”, Proc. of 20th Annual Conf. of the RSJ, 1C34, 2002.

[4] F. Nagashima:“A Motion Learning Method using CPG/NP,” Proc. of the 2nd Int’l Symposium on Adap-tive Motion of Animals and Machines, Kyoto, 2003.

[5] ZAIER RIADH: “Adaptive Motion for Humanoid Robot based on Polynomials Generated by RNN”, Proc. of 22th Annual Conf. of the RSJ, 2L12, 2004.

[6] Riadh Zaier, Fumio Nagashima: Motion Pattern Generator and Reflex System for Humanoid Robots. IROS 2006: 840-845, 2006.

[7] ZAIER RIADH: “Experimental Study of Sensory Reflex for Humanoid Robots Activation and Stability Issues”, Proc. of 25th Annual Conf. of the RSJ, 3H16, 2007.

[8] Riadh Zaier, Shinji Kanda: Piecewise-Linear Pattern Generator and Reflex System for Humanoid Robots. ICRA 2007: 2188-2195, 2007.

[9] Riadh Zaier, Shinji Kanda: Adaptive locomotion controller and reflex system for humanoid robots. IROS 2008: 2492-2497, 2008.

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