Title :
A design of 4-legged semi humanoid robot aero for disaster response task
Author :
Hiroaki Yaguchi;Kazuhiro Sasabuchi;Wesley Patrick Chan;Kotaro Nagahama;Takuya Saiki;Yasuto Shiigi;Masayuki Inaba
Author_Institution :
Department of Creative Informatics, Information Science and Technology, The University of Tokyo, 7-3-1 Hongo Bunkyo-ku Tokyo, Japan
Abstract :
In this paper, we introduce the design of the 4-legged semi humanoid robot platform Aero. Concepts of Aero are; Light weight, Simple structure, and Robust, and its objective is safety for human cooperation as a robot platform. We devised the placements of the motors by utilizing smart actuators that use ball spline to actuate cross-linked joints, and to avoid crushing objects, the motors used are also low power and can down power when overloaded. Software is developed within a very short period of time via model-based development using the Euslisp robot model. We evaluate this robot platform in a disaster response challenge competition to show its usability.
Keywords :
"Brushless motors","Legged locomotion","Wheels","Fasteners","Humanoid robots"
Conference_Titel :
Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
DOI :
10.1109/HUMANOIDS.2015.7363532
