HRP2based

HRP2based refers to hardware, software, or research efforts that are built around or compatible with the HRP-2 humanoid robot platform developed as part of Japan’s Humanoid Robotics Project. The label is used in academic papers, project names, and software repositories to indicate an HRP-2 heritage or compatibility, enabling reuse of control code, models, and integration approaches across experiments and labs.

HRP-2 is a two-legged, two-armed humanoid robot designed for manipulation and locomotion research as part of the HRP program, which began in the early 2000s in Japan. The platform combines actuator-driven joints, a perception system, and a balance and locomotion control framework to perform tasks such as object manipulation, walking, and interaction with humans and environments. Over the years, HRP-2 has been distributed to research institutions worldwide, with hardware and software resources provided to support development and evaluation of humanoid robotics algorithms.

In practice, HRP2based projects emphasize compatibility with HRP-2 hardware interfaces, kinematic and dynamic models, joint controllers, and related simulation assets. Researchers often leverage ROS-based setups, middleware, or other control frameworks to port perception, planning, and control software between HRP-2 and similar platforms. This approach facilitates reproducibility and comparative studies by using a common reference architecture and asset library.

As newer humanoid robots emerged, the use of HRP-2 based approaches has declined in some areas but remains relevant for historical comparison, education, and legacy research where HRP-2 assets remain available or instructional. The term continues to appear in literature to signal lineage or compatibility with the HRP-2 platform.