IEEE Robotics and Automation Letters · 2019 · 153 citations · 12 references
EngineeringElectrical EngineeringRobotics EngineeringHumanoid RoboticsRobot DesignRoboticsActuation SystemsLegged RoboticsRobot Joint Design
The HRP series of humanoid robots has been developed since 2000, with HRP‑5P introduced as the latest 2018 model. This letter introduces HRP‑5P as a prototype for a next‑generation humanoid platform designed to replace humans in large‑scale assembly tasks such as construction, aircraft, and shipyard work. HRP‑5P features newly designed electrically actuated high‑power joints with wide range and a redesigned arm configuration, with its mechanism and electrical systems detailed in the letter.
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.
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