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 proceedingConference PaperResearchpeer-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 languageEnglish
Title of host publication2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015)
EditorsFrank Chongwoo Park
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages61-66
Number of pages6
ISBN (Electronic)9781479968855, 9781479968848
ISBN (Print)9781479968862
DOIs
Publication statusPublished - 28 Dec 2015
Externally publishedYes
EventIEEE-RAS International Conference on Humanoid Robots 2015 - Seoul, Korea, Republic of (South)
Duration: 3 Nov 20155 Nov 2015
Conference number: 15th

Publication series

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

Conference

ConferenceIEEE-RAS International Conference on Humanoid Robots 2015
Abbreviated titleHumanoids 2015
CountryKorea, Republic of (South)
CitySeoul
Period3/11/155/11/15

Keywords

  • Brushless motors
  • Fasteners
  • Humanoid robots
  • Legged locomotion
  • Wheels

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