TALOS: A new humanoid research platform targeted for industrial applications

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.

[1]  Nicolas Mansard,et al.  HPP: A new software for constrained motion planning , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[2]  Christopher G. Atkeson,et al.  Robust dynamic walking using online foot step optimization , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[3]  Nikolaos G. Tsagarakis,et al.  WALK-MAN humanoid lower body design optimization for enhanced physical performance , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[4]  Aaron D. Ames,et al.  3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[5]  N. Mansard,et al.  A versatile and efficient pattern generator for generalized legged locomotion , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[6]  Shuuji Kajita,et al.  Humanoid robot HRP-2Kai — Improvement of HRP-2 towards disaster response tasks , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[7]  Jörn Malzahn,et al.  A modular compliant actuator for emerging high performance and fall-resilient humanoids , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[8]  Russ Tedrake,et al.  Continuous humanoid locomotion over uneven terrain using stereo fusion , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[9]  Masayuki Inaba,et al.  Development of life-sized high-power humanoid robot JAXON for real-world use , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[10]  Scott Kuindersma,et al.  Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot , 2015, Autonomous Robots.

[11]  Chien-Liang Fok,et al.  Actuator Control for the NASA‐JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots , 2015, J. Field Robotics.

[12]  Aaron D. Ames,et al.  Valkyrie: NASA's First Bipedal Humanoid Robot , 2015, J. Field Robotics.

[13]  Pierre-Brice Wieber,et al.  Whole body motion controller with long-term balance constraints , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[14]  Alin Albu-Schäffer,et al.  Overview of the torque-controlled humanoid robot TORO , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[15]  Darwin G. Caldwell,et al.  Robot impedance control and passivity analysis with inner torque and velocity feedback loops , 2014, Control Theory and Technology.

[16]  Mitsuharu Morisawa,et al.  Humanoid robot HRP-4 - Humanoid robotics platform with lightweight and slim body , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Masayuki Inaba,et al.  Design of high torque and high speed leg module for high power humanoid , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  N. Mansard,et al.  A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks , 2009, 2009 International Conference on Advanced Robotics.

[19]  Sergio García,et al.  Reem-B: An autonomous lightweight human-size humanoid robot , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[20]  Masayuki Inaba,et al.  Thermal control of electrical motors for high-power humanoid robots , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Shuuji Kajita,et al.  Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[22]  Takashi Suehiro,et al.  RT-middleware: distributed component middleware for RT (robot technology) , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  Kenji KANEKO,et al.  Humanoid robot HRP-3 , 2004, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[24]  J. Saunders,et al.  The major determinants in normal and pathological gait. , 1953, The Journal of bone and joint surgery. American volume.

[25]  A. Goswami,et al.  Humanoid Robotics: A Reference , 2018 .

[26]  Olivier Stasse,et al.  A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control , 2017, IEEE Robotics and Automation Letters.