Development of Life-Size Humanoid Robot Platform with Robustness for Falling Down, Long Time Working and Error Occurrence

Yohei Kakiuchi1, Masayuki Kamon2, Nobuyasu Shimomura2, Soh Yukizaki3, Noriaki Takasugi4, Shunichi Nozawa4, Kei Okada4, Masayuki Inaba4

  • 1Toyohashi University of Technology
  • 2Kawasaki Heavy Industries, Ltd.
  • 3University of Tokyo
  • 4The University of Tokyo


11:15 - 11:30 | Mon 25 Sep | Room 221 | MoAT17.4

Session: Humanoid


For a life-sized humanoid robot, continuous operation is required for working in the real world, such as industrial factory or a disaster site. In order to realize continuous operation, a robot have to improve robustness from various aspects. We developed a new humanoid robot considering three aspects of robustness. The first one is mechanical robustness. This is a mechanical soundness for a contact with an environment. It means that a robot have to take an action including contacts with an environment. Moreover, serious damages have to be avoided even when falling down occurs suddenly. The second one is functional robustness. A robot have to continue to work for a long time and have to work everywhere even where being severe environment, such as a disaster site, a fire site or a wet environment. The last one is robustness of an action of a robot. This means that a robot detects an error occurrence, finds out an error recovery action and recovers to correct situation even when unknown error occurs. We achieved mechanical robustness by hard points located to a robot body. They designed to support robot's own weight and to endure impact force. Functional robustness was achieved by using a power cable for a long time operation. We improved functionality of environment resistance by a robot wearing a functional suit. A robot can select functionality by changing a suit according to an environment. We achieved robustness of an action by configuring a stand up action using ``StateNet'' which can recover an error autonomously. Finally, we present a methodology to develop a humanoid robot platform which can continue to work in the real world.