Development of life-sized humanoid robot platform with robustness for falling down, long time working and error occurrence
Yohei Kakiuchi, Masayuki Kamon, Nobuyasu Shimomura, Sou Yukizaki, Noriaki Takasugi, Shunichi Nozawa, Kei Okada, Masayuki Inaba
Abstract
In this paper, we described a new developed life-size humanoid robot. A purpose of the developed robot is to realize continuous operation for a long time and to improve an action autonomously. we considered three aspects of robustness, mechanical robustness, functional robustness and robustness of an action. Mechanical robustness was confirmed by the experiment that the robot fell down without mechanical failures and continued to work after falling down by using hard points. Functional robustness was designed to use power cable and to wear a suit which can be changed by required functionality. Robustness of an action was achieved as a standing up action using “StateNet”, which realized autonomous error recovery. Finally, we present a methodology to develop a humanoid robot platform which can continue to work in the real world.
BibTeX
@inproceedings{iros2017_developmentoflif,
title = {Development of life-sized humanoid robot platform with robustness for falling down, long time working and error occurrence},
author = {Yohei Kakiuchi and Masayuki Kamon and Nobuyasu Shimomura and Sou Yukizaki and Noriaki Takasugi and Shunichi Nozawa and Kei Okada and Masayuki Inaba},
booktitle = {IROS 2017},
year = {2017}
}