Abstract
Various applications (e.g., disaster response) put forward higher requirements for the capabilities of robots. However, to date, few platforms can be compatible with the required mobility, stability and dexterity. A major challenge is mobile stability may severely limit the variety of manipulation skills. To tackle the issue, this paper presents a new track-legged humanoid robot, Dexbot, aiming to achieve both dexterity and mobility simultaneously. Dexbot is composed of a versatile humanoid upper body and a track-legged mobile platform, with a total of 56 active DOFs and about 10 transformable configurations, allowing for precise manipulation and traversal of various complex environments. Additionally, it features a lightweight and highly integrated design, with notable dexterity, strength and mobility in its class. Herein, this paper reports a brief overview of each subsystem, focusing on the robotic structure, system architecture, and some applied strategies of capabilities development. Finally, some essential performances are demonstrated through a series of experiments.
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