Abstract
This paper presents the development of the JET humanoid robot, which is based on the existing THORMANG platform developed in 2015. Application in the industrial and service fields was targeted, and three design concepts were determined for the humanoid robot. First, low stiffness of the actuator modules was utilized for compliance with external environments. Second, to maximize the robot whole-body motion capability, the overall height was increased. However, the weight was reduced to satisfy power requirements. The workspace was also increased to enable various postures, by increasing the range of motion of each joint and extending the links. Compared to the original THORMANG platform, the lower limb length increased by approximately 20%, and the hip range of motion increased by 39.3%. Third, the maintenance process was simplified through modularization of the electronics and frame design for improved accessibility. Several experiments, including stair climbing and egress from a car, were performed to verify that the JET humanoid robot performance enhancements reflected the design concepts.
Highlights
IntroductionTheir feasibility in various service and industry settings, where interaction with humans or environments is required, has been explored
In addition to overcoming the above THORMANG limitations, to achieve compliance, whole-body motion capability, and easy maintenance, as mentioned in Section 1, the following three philosophies were adopted as the JET design goals
We developed the JET humanoid robot, which is based on the THORMANG platform
Summary
Their feasibility in various service and industry settings, where interaction with humans or environments is required, has been explored. As humanoid robots are required to interact with people as well as the environment in industry and service applications, both high performance and safety are important. Humanoids require whole-body motion capability to perform diverse tasks, but the THORMANG leg length is insufficient and the joint ranges are limited. The stair task, which required the robot to climb a staircase, was one of the most difficult tasks for the THORMANG-based designs because of their short legs and narrow workspace [11]. We concentrated on developing our hardware to upgrade the performance and overcome the above limitations
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