{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T05:22:12Z","timestamp":1778304132374,"version":"3.51.4"},"reference-count":47,"publisher":"SAGE Publications","issue":"4-5","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,4]]},"abstract":"<jats:p>We have developed a humanoid robot HRP-1S that is capable of simultaneous whole body motion control. In phase one of the Humanoid Robotics Project (HRP) of the Ministry of Economy, Trade and Industry of Japan, Honda R&amp;D Co. Ltd has produced humanoid robot HRP-1 as a humanoid research platform to ease the development of good applications for humanoid robots in phase two of HRP. However, HRP-1 controls its legs and arms separately, and is not suitable for some applications. We modified the control hardware of HRP-1 and implemented our own control software. The modified robot was designated HRP-1S. The motion controller of HRP-1S is built in accordance with the plug-in architecture. We have developed some plug-ins including a real-time walking pattern generator (KWALK plug-in) and a reflex controller (STABILIZER plug-in) to maintain the dynamic balance of HRP-1S. In this paper, we present the system architecture of the control system of HRP-1S and several experimental results.<\/jats:p>","DOI":"10.1177\/0278364904042194","type":"journal-article","created":{"date-parts":[[2004,5,27]],"date-time":"2004-05-27T09:25:01Z","timestamp":1085649901000},"page":"351-362","source":"Crossref","is-referenced-by-count":38,"title":["Experimental Study of Humanoid Robot HRP-1S"],"prefix":"10.1177","volume":"23","author":[{"given":"Kazuhito","family":"Yokoi","sequence":"first","affiliation":[{"name":"Intelligent Systems Institute National Institute of Advanced Industrial                        Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568,                        Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fumio","family":"Kanehiro","sequence":"additional","affiliation":[{"name":"Intelligent Systems Institute National Institute of Advanced Industrial                        Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenji","family":"Kaneko","sequence":"additional","affiliation":[{"name":"Intelligent Systems Institute National Institute of Advanced Industrial                        Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuuji","family":"Kajita","sequence":"additional","affiliation":[{"name":"Intelligent Systems Institute National Institute of Advanced Industrial                        Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kiyoshi","family":"Fujiwara","sequence":"additional","affiliation":[{"name":"Intelligent Systems Institute National Institute of Advanced Industrial                        Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hirohisa","family":"Hirukawa","sequence":"additional","affiliation":[{"name":"Intelligent Systems Institute National Institute of Advanced Industrial                        Science and Technology (AIST) 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2004,4,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Azevedo, C., Poignet, P., and Espiau, B. 2001. 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