Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints
Kenji Kaneko, Hiroshi Kaminaga, Takeshi Sakaguchi, Shuuji Kajita, Mitsuharu Morisawa, Iori Kumagai, Fumio Kanehiro
Abstract
This letter introduces the humanoid robot HRP-5P, which stands for Humanoid Robotics Platform-5 Prototype. We have been developing the HRP series humanoid robots since 2000, and HRP-5P is the latest version of the HRP series as of 2018. It is developed as a prototype for our next generation humanoid robotics platform, aiming to realize the use of practical humanoid robots in place of humans within large-scale assembly industries such as construction sites, aircraft facilities, and shipyards. To realize it, electrically actuated high-power joints with wide movable range have been newly designed. Also, the arm configuration has also been redesigned to improve the physical ability of working on actual sites. The mechanism and the electrical systems are presented with its basic specification in this letter.
BibTeX
@inproceedings{ral2019_humanoidrobothrp,
title = {Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints},
author = {Kenji Kaneko and Hiroshi Kaminaga and Takeshi Sakaguchi and Shuuji Kajita and Mitsuharu Morisawa and Iori Kumagai and Fumio Kanehiro},
booktitle = {RA-L 2019},
year = {2019}
}