Reem-B: An autonomous lightweight human-size humanoid robot

Abstract

This paper introduces the humanoid robot Reem-B, built by Pal robotics as a research platform in the field of service robots. The idea is to produce robots that can help humans and cohabit their environments. For this purpose, the body plan, sensory and actuator system of the robot, as well as its cognitive abilities must be designed to perform real-world tasks including dynamic walking, interaction with people or object recognition and manipulation. Reem-B achieves this scope by using two legs, two strong arms with fingered hands, and a software suite that controls all its degrees of freedom, coordinating them with vision and auditory systems. The main difference with other humanoids of its size is its level of autonomy. Autonomy in this robot has been improved from other robots at three different levels: with an increased battery life (estimated twice of the competitors), with the ability to autonomously navigate in indoor environments while avoiding obstacles, and by integrating all the control systems within the robot itself.