Development of a humanoid robot capable of handling heavy objects

Abstract

A new type of human-sized 28 d.o.f. humanoid robot driven by the closed-chain type of joint actuator was developed. Each leg of the robot is composed of six joints: three joints of them are at the hip, one joint at the knee, and two joints at the ankle. Also, the robot has six joints for each arm, one balancing joint, and three joints for the head with two cameras. The weight of the robot is 75(Kg) and the height is 168(cm).