TALOS: A new humanoid research platform targeted for industrial applications

O. Stasse, T. Flayols, Rohan Budhiraja, Kevin Giraud-Esclasse, Justin Carpentier, Joseph Mirabel, A. Prete, P. Souéres, N. Mansard, F. Lamiraux, J. Laumond, Luca Marchionni, H. Tome, F. Ferro
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引用次数: 110

Abstract

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art technical features along with high industrial quality, but they should also offer the prospect of effective physical human interaction. In this paper we introduce a new humanoid robot capable of interacting with a human environment and targeting industrial applications. Limitations are outlined and used together with the feedback from the DARPA Robotics Challenge, and other teams leading the field in creating new humanoid robots. The resulting robot is able to handle weights of 6 kg with an out-stretched arm, and has powerful motors to carry out fast movements. Its kinematics have been specially designed for screwing and drilling motions. In order to make interaction with human operators possible, this robot is equipped with torque sensors to measure joint effort and high resolution encoders to measure both motor and joint positions. The humanoid robotics field has reached a stage where robustness and repeatability is the next watershed. We believe that this robot has the potential to become a powerful tool for the research community to successfully navigate this turning point, as the humanoid robot HRP-2 was in its own time.
TALOS:面向工业应用的新型人形研究平台
即将到来的一代人形机器人不仅要具备最先进的技术特征和高工业质量,而且还应该提供有效的物理人机交互的前景。在本文中,我们介绍了一种新的人形机器人,能够与人类环境交互,并针对工业应用。限制被概述并与DARPA机器人挑战赛的反馈一起使用,以及其他领导该领域创造新的人形机器人的团队。由此产生的机器人能够用伸出的手臂处理6公斤的重量,并具有强大的马达来进行快速运动。它的运动学是专门为旋紧和钻孔运动设计的。为了能够与人类操作者进行交互,该机器人配备了扭矩传感器来测量关节的作用力,并配备了高分辨率编码器来测量电机和关节的位置。人形机器人领域已经达到了一个阶段,鲁棒性和可重复性是下一个分水岭。我们相信,这个机器人有潜力成为研究界成功驾驭这一转折点的强大工具,就像人形机器人HRP-2在它自己的时代一样。
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