A design of 4-legged semi humanoid robot aero for disaster response task

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.