A design of 4-legged semi humanoid robot aero for disaster response task

Hiroaki Yaguchi; Kazuhiro Sasabuchi; Wesley Patrick Chan; Kotaro Nagahama; Takuya Saiki; Yasuto Shiigi; Masayuki Inaba

doi:10.1109/HUMANOIDS.2015.7363532

A design of 4-legged semi humanoid robot aero for disaster response task

Hiroaki Yaguchi, Kazuhiro Sasabuchi, Wesley Patrick Chan, Kotaro Nagahama, Takuya Saiki, Yasuto Shiigi, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

4 Citations (Scopus)

Abstract

In this paper, we introduce the design of the 4-legged semi humanoid robot platform Aero. Concepts of Aero are; Light weight, Simple structure, and Robust, and its objective is safety for human cooperation as a robot platform. We devised the placements of the motors by utilizing smart actuators that use ball spline to actuate cross-linked joints, and to avoid crushing objects, the motors used are also low power and can down power when overloaded. Software is developed within a very short period of time via model-based development using the Euslisp robot model. We evaluate this robot platform in a disaster response challenge competition to show its usability.

Original language	English
Title of host publication	2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015)
Editors	Frank Chongwoo Park
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	61-66
Number of pages	6
ISBN (Electronic)	9781479968855, 9781479968848
ISBN (Print)	9781479968862
DOIs	https://doi.org/10.1109/HUMANOIDS.2015.7363532
Publication status	Published - 28 Dec 2015
Externally published	Yes
Event	IEEE-RAS International Conference on Humanoid Robots 2015 - Seoul, Korea, South Duration: 3 Nov 2015 → 5 Nov 2015 Conference number: 15th

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Publisher	IEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	IEEE-RAS International Conference on Humanoid Robots 2015
Abbreviated title	Humanoids 2015
Country/Territory	Korea, South
City	Seoul
Period	3/11/15 → 5/11/15

Keywords

Brushless motors
Fasteners
Humanoid robots
Legged locomotion
Wheels

Access to Document

10.1109/HUMANOIDS.2015.7363532

Cite this

Yaguchi, H., Sasabuchi, K., Chan, W. P., Nagahama, K., Saiki, T., Shiigi, Y., & Inaba, M. (2015). A design of 4-legged semi humanoid robot aero for disaster response task. In F. C. Park (Ed.), 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015) (pp. 61-66). (IEEE-RAS International Conference on Humanoid Robots). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/HUMANOIDS.2015.7363532

Yaguchi, Hiroaki ; Sasabuchi, Kazuhiro ; Chan, Wesley Patrick et al. / A design of 4-legged semi humanoid robot aero for disaster response task. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015). editor / Frank Chongwoo Park. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 61-66 (IEEE-RAS International Conference on Humanoid Robots).

@inproceedings{34f3721177724426b291e7dd13fb447e,

title = "A design of 4-legged semi humanoid robot aero for disaster response task",

abstract = "In this paper, we introduce the design of the 4-legged semi humanoid robot platform Aero. Concepts of Aero are; Light weight, Simple structure, and Robust, and its objective is safety for human cooperation as a robot platform. We devised the placements of the motors by utilizing smart actuators that use ball spline to actuate cross-linked joints, and to avoid crushing objects, the motors used are also low power and can down power when overloaded. Software is developed within a very short period of time via model-based development using the Euslisp robot model. We evaluate this robot platform in a disaster response challenge competition to show its usability.",

keywords = "Brushless motors, Fasteners, Humanoid robots, Legged locomotion, Wheels",

author = "Hiroaki Yaguchi and Kazuhiro Sasabuchi and Chan, {Wesley Patrick} and Kotaro Nagahama and Takuya Saiki and Yasuto Shiigi and Masayuki Inaba",

year = "2015",

month = dec,

day = "28",

doi = "10.1109/HUMANOIDS.2015.7363532",

language = "English",

isbn = "9781479968862",

series = "IEEE-RAS International Conference on Humanoid Robots",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "61--66",

editor = "Park, {Frank Chongwoo}",

booktitle = "2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015)",

address = "United States of America",

note = "IEEE-RAS International Conference on Humanoid Robots 2015, Humanoids 2015 ; Conference date: 03-11-2015 Through 05-11-2015",

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Yaguchi, H, Sasabuchi, K, Chan, WP, Nagahama, K, Saiki, T, Shiigi, Y & Inaba, M 2015, A design of 4-legged semi humanoid robot aero for disaster response task. in FC Park (ed.), 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015). IEEE-RAS International Conference on Humanoid Robots, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 61-66, IEEE-RAS International Conference on Humanoid Robots 2015, Seoul, Korea, South, 3/11/15. https://doi.org/10.1109/HUMANOIDS.2015.7363532

A design of 4-legged semi humanoid robot aero for disaster response task. / Yaguchi, Hiroaki; Sasabuchi, Kazuhiro; Chan, Wesley Patrick et al.
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015). ed. / Frank Chongwoo Park. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 61-66 (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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T1 - A design of 4-legged semi humanoid robot aero for disaster response task

AU - Yaguchi, Hiroaki

AU - Sasabuchi, Kazuhiro

AU - Chan, Wesley Patrick

AU - Nagahama, Kotaro

AU - Saiki, Takuya

AU - Shiigi, Yasuto

AU - Inaba, Masayuki

N1 - Conference code: 15th

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Y1 - 2015/12/28

N2 - In this paper, we introduce the design of the 4-legged semi humanoid robot platform Aero. Concepts of Aero are; Light weight, Simple structure, and Robust, and its objective is safety for human cooperation as a robot platform. We devised the placements of the motors by utilizing smart actuators that use ball spline to actuate cross-linked joints, and to avoid crushing objects, the motors used are also low power and can down power when overloaded. Software is developed within a very short period of time via model-based development using the Euslisp robot model. We evaluate this robot platform in a disaster response challenge competition to show its usability.

AB - In this paper, we introduce the design of the 4-legged semi humanoid robot platform Aero. Concepts of Aero are; Light weight, Simple structure, and Robust, and its objective is safety for human cooperation as a robot platform. We devised the placements of the motors by utilizing smart actuators that use ball spline to actuate cross-linked joints, and to avoid crushing objects, the motors used are also low power and can down power when overloaded. Software is developed within a very short period of time via model-based development using the Euslisp robot model. We evaluate this robot platform in a disaster response challenge competition to show its usability.

KW - Brushless motors

KW - Fasteners

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KW - Legged locomotion

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Yaguchi H, Sasabuchi K, Chan WP, Nagahama K, Saiki T, Shiigi Y et al. A design of 4-legged semi humanoid robot aero for disaster response task. In Park FC, editor, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 61-66. (IEEE-RAS International Conference on Humanoid Robots). doi: 10.1109/HUMANOIDS.2015.7363532

A design of 4-legged semi humanoid robot aero for disaster response task

Abstract

Publication series

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Keywords

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