Modeling and simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform Articles uri icon

publication date

  • November 2013

start page

  • 663

end page

  • 680


  • 8


  • 44

International Standard Serial Number (ISSN)

  • 0196-9722

Electronic International Standard Serial Number (EISSN)

  • 1087-6553


  • The aim of this work is to model and simulate the humanoid robot HOAP-3 in the OpenHRP3 platform. Our purpose is to create a virtual model of the robot so that different motions and tasks can be tested in different environments. This will be the first step before testing the motion patterns in the real HOAP-3. We use the OpenHRP3 platform for the creation and validation of the robot model and tasks. The procedure followed to reach this goal is detailed in this article. In order to validate our experience, different walking motions are tested and the simulation results are compared with the experimental ones.


  • Robotics and Industrial Informatics


  • gait simulation; hoap-3; humanoid robot model; openhrp; stable walking patterns