Tombatossals: A humanoid torso for autonomous sensor-based tasks

Research reproducibility is now being considered as the key quality requisite for research articles in engineering. The UJI Robotics Intelligence Laboratory has been presenting results in the last years based on Tombatossals, the UJI humanoid torso, but a full description of this system has never been published. This paper presents Tombatossals, a multipurpose humanoid torso, for research of autonomous grasping and manipulation tasks in unstructured household scenarios. Its actuators, sensors, computer and software architectures are described. Moreover, the robot current abilities, including perception, manipulation and task execution, are also explained. Finally, this paper also summarizes several experiments and projects showing the capabilities of the system. We expect this paper contributes to the reproducibility of our past and future research.