Design and development of a light-weight biped humanoid robot Saika-4

Author

Shirata, Satoru ; Konno, Atsushi ; Uchiyama, Masm

Author_Institution

Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan

Volume

1

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

148

Abstract

In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-4 is developed. The Saika-4 is a self-sustained biped robot equipped with two arms and a robotics head. The Saika-4 is designed so as to be light weight, low cost and human size. The weight is about 47 kg, and the height is about 1300 mm. The Saika-4 have 30 DOF in total, that is 6 DOF for each leg, 7 DOF for each arm, 1 DOF for each hand and 2 DOF for robotics head. The Saika-4 is equipped with a PC, batteries, a wireless ethernet modem, a gyroscope, and motor drivers in the body. Furthermore, the Saika-4 is equipped with a gravity compensation mechanism using springs in the legs. This paper presents the design of a humanoid robot Saika-4 and the progress of the project. The details of the gravity compensation mechanism is also presented.

Keywords

compensation; humanoid robots; intelligent robots; legged locomotion; Saika-4; biped humanoid robot; gravity compensation mechanism; gyroscope; intelligent robotics; motor drivers; wireless ethernet modem; Batteries; Costs; Ethernet networks; Gravity; Humanoid robots; Humans; Intelligent robots; Leg; Legged locomotion; Manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389344

Filename

1389344