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| HOME >> Mechatronics
Systems - Humanoid Robot HRP-2"Promet" |
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HRP-2 is the final robotic platform for
the Humanoid Robotics Project headed
by the Manufacturing Science and Technology
Center (MSTC), which are sponsored by
the Ministry of Economy, Trade and Industry (METI)
through New Energy and Industrial Technology
Development Organization (NEDO).
The total robotic system was designed
and integrated by Kawada Industries,
Inc. together with Humanoid Research
Group of National Institute of Advanced
Industrial Science and Technology (AIST). Yasukawa Electric Corporation
provided the initial concept design for
the arms and AIST 3D Vision
Research Group and Shimizu Corporation
provided the vision system.
HRP-2's height is 154 cm and mass is
58 kg including batteries. It has 30
degrees of freedom (DOF) including two
DOF for its hip. The cantilevered crotch
joint allows for walking in a confined area. Its highly compact
electrical system packaging allows it
to forgo the commonly used "backpack" used
on other humanoid robots.
The height, mass, and DOF of the new
robot are the same as the HRP-2P that
was released in March 2002. The following
features have been upgraded in the new
model.
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Performance Upgrade: Cooling systems incorporated in the leg actuators allow enhanced continuous stepping endurance. Feet are designed for walking on an uneven surface. Links and axial stiffness are significantly upgraded to improve walking motion and operational performance. |
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Reliability Upgrade: Electrical device noise was reduced to improve system reliability. Cooling systems were installed in both the computer and the actuator drive systems to improve temperature control. |
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Compact size upgrade: Electrical harnesses were made into ICs and a specially designed battery cage was developed to make the torso even more compact. |
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The external appearance of HRP-2 was
designed by Mr. Yutaka Izubuchi,
a mechanical animation designer famous
for his robots that appear in Japanese
anime, including the well-known "PATLABOR." Mr. Izubuchi also named
HRP-2 "Promet."
HRP-2 will be used for experiments to
further develop robotic technologies
in the areas of "walking on uneven
surfaces," "tipping-over control," "getting up from a fallen position," and "human-interactive
operations in open spaces."
It will also be used for another 5-year "Key Technology Research Promotion
Program," entitled "Key Technology Research and Development for Humanoid
Robot Operating in Actual Environments." This project is also sponsored
by METI and NEDO, spearheaded by Kawada
Industries and supported by AIST and
Kawasaki Heavy Industries, Inc.
Meanwhile, Kawada Industries will start
renting HRP-2 as a humanoid robot R&D platform. Internal API for HRP-2
is expected to be open to the public
and its users will be able to develop
their own software. It is anticipated
that HRP-2s will greatly enhance humanoid
robot technology research activities. |
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Many DOF system despite light weight construction: 154 cm Height, 58 kg Mass and 30 DOF |
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Cantilevered crotch joint structure allows for a walk in confined area |
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Highly compact electrical system packaging to forgo "backpack" |
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Experiments to realize "walking on uneven surfaces," "tipping-over control," "getting up from a fallen position," and "human-interactive operations in open spaces" are planned. |
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Users will be able to develop application software due to open architecture. |
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| Dimensions |
Total Height 1540 mm Total Width 620mm |
| Mass (including batteries) |
58kg |
| Degrees of Freedom |
30 axes |
| Walking Speed |
0~2km/h |
| Hand Grip |
2kgf (per hand) |
| Sensors |
Joints |
Incremental encoders |
| Vision |
3-eye CCD stereo cameras |
| Torso |
3-axes vibration gyro 3-axes velocity sensor |
| Arms |
6-axes force sensors |
| Legs |
6-axes force sensors |
| Motor Drivers |
48V 20A(I max) 2axes/driver x 16 |
| Power System |
NiMH Battery DC 48V 14.8Ah |
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