Name
Abstract | ||
|---|---|---|
The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/HUMANOIDS.2017.8246947 | 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) |
Keywords | Field | DocType |
humanoid robotics field,humanoid robot HRP-2,humanoid research platform,human environment,DARPA Robotics Challenge,industrial quality,industrial applications,physical human interaction,kinematics design,torque sensors,mass 6.0 kg | Social robot,Robot control,Kinematics,Torque,Simulation,Computer science,Robustness (computer science),Artificial intelligence,Robot,Robotics,Humanoid robot | Conference |
ISBN | Citations | PageRank |
978-1-5386-4679-3 | 6 | 0.54 |
References | Authors | |
9 | 14 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Olivier Stasse | 1 | 1438 | 85.86 |
| T. Flayols | 2 | 7 | 1.22 |
| Rohan Budhiraja | 3 | 6 | 2.23 |
| K. Giraud-Esclasse | 4 | 6 | 0.54 |
| Justin Carpentier | 5 | 32 | 9.16 |
| Joseph Mirabel | 6 | 11 | 2.75 |
| Andrea Del Prete | 7 | 76 | 8.90 |
| Philippe Souères | 8 | 323 | 43.63 |
| Nicolas Mansard | 9 | 490 | 39.67 |
| Florent Lamiraux | 10 | 387 | 35.54 |
| Jean-Paul Laumond | 11 | 1853 | 509.69 |
| Luca Marchionni | 12 | 6 | 0.54 |
| Hilario Tome | 13 | 6 | 0.54 |
| F. Ferro | 14 | 6 | 0.54 |