ETL-Humanoid-A high-performance full body humanoid system for versatile actions

This paper presents the final stage of development of the humanoid system, ETL-Humanoid. It is full-scale humanoid system with 46 degrees of freedom, with the height and weight of an average Japanese person. It was designed as an experimental platform, to explore the general principle of controls of complex embodied systems. The complete system will be presented; the mechanical configuration of the system and the low-level network-based control system will also be presented. The final system possesses properties of compactness, modularity and is light in weight. The mechanical system is high in performance, is backdrivable and compliant, allowing the possibility of a wide range of motions and capabilities. The general capability of being able to support itself is demonstrated. A "Chin Up" experiment showing the physical strength of our system is presented. The system is able to support its own body weight while rising up to a supporting bar. Aside from its physical strength, the system is also capable of performing higher-level perceptions and actions. These capabilities will be briefly presented