Abstract
In this paper we present the development of a new full-sized anthropometrically correct humanoid robot Herbert. Herbert has 33 DOFs: 1) 29 active DOFs (2 × 4 in the legs, 2 × 7 in the arms, 4 in the waist and 3 in the head); 2) 4 passive DOFs (2 × 2 in the ankles). We present the objectives of the design and the development of our system, the hardware (mechanical, electronics) as well as the supporting software architecture that encompasses the realisation of the complete humanoid system. Several key elements, that have to be taken into account in our approach to keep the costs low while ensuring high-performance, will be presented. In realising Herbert we applied a modular design for the overall mechanical structure. Two core mechanical module types make up the main structural elements of Herbert: 1) small compact mechanical drive modules; and 2) compliant mechanical drive modules. The electronic system of Herbert, which is based on two different types of motor control boards and an FPGA module with a central controller, is discussed. The software architecture is based on ROS with a number of sub nodes used for the controller. All these supporting components have been important in the development of the complete system. Finally, we present results showing our robot’s performances: demonstrating the behaviour of the compliant modules, the ability of tracking a desired position/velocity as well as a simple torque controller. We also evaluate our custom communication system. Additionally, we demonstrate Herbert balancing and squatting to show its performance. Moreover, we also show the simplicity of the higher level supporting software framework in realising new behaviours. All in all, we show that our system is compact and able to achieve comparable human performances and has human proportions while being low cost.
Highlights
Over the past two decades, a number of full-sized humanoid robots have been designed and realized: Hubo (Park et al, 2005), Honda P2/P3 (Hirai et al, 1998), HRP-series (Kaneko et al, 2008), CB (Cheng et al, 2007), LOLA (Lohmeier et al, 2009), TORO iteOtt2010 and ARMAR-4 (Asfour et al, 2013), just to name a few
In this article we presented the latest progress of the development of our anthropometrically correct humanoid robot Herbert
We have shown all the DOFs of the Herbert’s completed design, with a total weight of 35.5 kg and the breakdown of the AC35,000 total cost
Summary
Over the past two decades, a number of full-sized humanoid robots have been designed and realized: Hubo (Park et al, 2005), Honda P2/P3 (Hirai et al, 1998), HRP-series (Kaneko et al, 2008), CB (Cheng et al, 2007), LOLA (Lohmeier et al, 2009), TORO iteOtt2010 and ARMAR-4 (Asfour et al, 2013), just to name a few. All these humanoid robots are commonly human in size and achieve similar or greater human performance. We have been designing a full-sized humanoid robot that has similar physical specifications as current fullsized humanoid robots, but with the main objective of making it affordable
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