Development of task-oriented high power field robot platform with humanoid upper body and mobile wheeled base

Xiangyu Chen, Kohei Kimura, Hiroto Mizohana, Moju Zhao, Fan Shi, Krishneel Chaudhary, Wesley P. Chan, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

3 Citations (Scopus)

Abstract

We present a field robot platform HRP2G with humanoid upper body and a high power mobile wheeled base that focus on outdoor tasks. We assemble the hardware of both parts and create a software bridge between the humanoid upper body and the mobile wheeled base through popular robotics software ROS. For the humanoid upper body, we use HRP2 robot and for the mobile wheeled base we buy individual parts and create our own control unit with both hardware and software. The kinematics of the robot is well modelled and we design the corresponding control law. We will apply this robot platform to participate in the second task of MBZIRC(Mohamed Bin Zayed International Robotics Challenge) in 2017. In the experiment we show how our platform accomplished certain tasks with customize designed gripper and sensor equipments, which demonstrates the feasibility of our integrated system.

Original languageEnglish
Title of host publication2016 IEEE/SICE International Symposium on System Integration (SII 2016)
EditorsYasuhisa Hirata
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages349-354
Number of pages6
ISBN (Electronic)9781509033294
ISBN (Print)9781509033300
DOIs
Publication statusPublished - 2016
Externally publishedYes
EventIEEE/SICE International Symposium on System Integration 2016 - Sapporo, Japan
Duration: 13 Dec 201615 Dec 2016
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/7830756/proceeding

Conference

ConferenceIEEE/SICE International Symposium on System Integration 2016
Abbreviated titleSII 2016
CountryJapan
CitySapporo
Period13/12/1615/12/16
Internet address

Cite this

Chen, X., Kimura, K., Mizohana, H., Zhao, M., Shi, F., Chaudhary, K., Chan, W. P., Nozawa, S., Kakiuchi, Y., Okada, K., & Inaba, M. (2016). Development of task-oriented high power field robot platform with humanoid upper body and mobile wheeled base. In Y. Hirata (Ed.), 2016 IEEE/SICE International Symposium on System Integration (SII 2016) (pp. 349-354). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/SII.2016.7844023