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2023 Volume 38
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RESEARCH ARTICLE   Open Access    

Lightweight mechatronic system for humanoid robot

  • National Taiwan Normal University, 106, Heping E. Road, Sec. 1, Taipei city, 10610, Taiwan

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  • Abstract: This paper presents the technical specifications of a lightweight humanoid robot platform named Robinion Sr. including its mechanical and electrical design. We describe a versatile and robust mechatronic system, efficient walking gait, and software architecture of the humanoid robot. The humanoid robot platform is targeted for use in a range of applications, including research and development, competitions, and the service industry. A reduced platform cost was an essential consideration in our design. We introduce a specialized and inexpensive mechanical design, which includes a parallel-kinematics leg design, external gears, and low-cost controllers and sensors. The humanoid robot is equipped with an efficient electronic structure and a tablet computer for task scheduling, control, and perception, as well as an embedded controller for solving forward & inverse kinematics and low-level actuator control. The perception system recognizes objects at real-time inference with Deep Learning-based detection algorithms without a dedicated GPU. We present and evaluate the capabilities of our newly developed advanced humanoid robot and believe it is a suitable platform for the academic and industrial robotics community.
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  • Cite this article

    Jaesik Jeong, Jeehyun Yang, Guilherme Henrique Galelli Christmann, Jacky Baltes. 2023. Lightweight mechatronic system for humanoid robot. The Knowledge Engineering Review 38(1), doi: 10.1017/S026988892300005X
    Jaesik Jeong, Jeehyun Yang, Guilherme Henrique Galelli Christmann, Jacky Baltes. 2023. Lightweight mechatronic system for humanoid robot. The Knowledge Engineering Review 38(1), doi: 10.1017/S026988892300005X
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RESEARCH ARTICLE   Open Access    

Lightweight mechatronic system for humanoid robot

  • National Taiwan Normal University, 106, Heping E. Road, Sec. 1, Taipei city, 10610, Taiwan

  • Received: 26 June 2022
  • Revised: 11 April 2023
  • Accepted: 25 April 2023
  • Published online: 01 June 2023
The Knowledge Engineering Review  38,  2023, 38(1)  |  Cite this article

Abstract: Abstract: This paper presents the technical specifications of a lightweight humanoid robot platform named Robinion Sr. including its mechanical and electrical design. We describe a versatile and robust mechatronic system, efficient walking gait, and software architecture of the humanoid robot. The humanoid robot platform is targeted for use in a range of applications, including research and development, competitions, and the service industry. A reduced platform cost was an essential consideration in our design. We introduce a specialized and inexpensive mechanical design, which includes a parallel-kinematics leg design, external gears, and low-cost controllers and sensors. The humanoid robot is equipped with an efficient electronic structure and a tablet computer for task scheduling, control, and perception, as well as an embedded controller for solving forward & inverse kinematics and low-level actuator control. The perception system recognizes objects at real-time inference with Deep Learning-based detection algorithms without a dedicated GPU. We present and evaluate the capabilities of our newly developed advanced humanoid robot and believe it is a suitable platform for the academic and industrial robotics community.

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    Acknowledgments

    • This work was financially supported by the “Chinese Language and Technology Center” of National Taiwan Normal University (NTNU) from The Featured Areas Research Center Program within the framework of the Higher Education Sprout Project by the Ministry of Education (MOE) in Taiwan, and Ministry of Science and Technology, Taiwan, under Grants no. MOST 111-2918-I-003-003-, MOST 110-2923-E-003-001-MY3, and MOST 110-2221-E-003-023. We are grateful to the National Center for High-performance Computing for computer time and facilities to conduct this research.

    • https://emanual.robotis.com/docs/en/platform/op3/introduction/

    • http://en.robotis.com/

    • https://emanual.robotis.com/docs/en/dxl/mx/

    • https://www.seedrobotics.com/rh2d-advanced-manipulator

    • https://coral.ai/products/accelerator/

    • https://emanual.robotis.com/docs/en/parts/controller/opencm904/

    • https://emanual.robotis.com/docs/en/parts/controller/opencm485exp/

    • https://www.qt.io/

    • https://www.tensorflow.org/lite/performance/post_training_quantization

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    • This is an Open Access article, distributed under the terms of the Creative Commons Attribution-ShareAlike licence (http://creativecommons.org/licenses/by-sa/4.0/), which permits re-use, distribution, and reproduction in any medium, provided the same Creative Commons licence is used to distribute the re-used or adapted article and the original article is properly cited.
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    Jaesik Jeong, Jeehyun Yang, Guilherme Henrique Galelli Christmann, Jacky Baltes. 2023. Lightweight mechatronic system for humanoid robot. The Knowledge Engineering Review 38(1), doi: 10.1017/S026988892300005X
    Jaesik Jeong, Jeehyun Yang, Guilherme Henrique Galelli Christmann, Jacky Baltes. 2023. Lightweight mechatronic system for humanoid robot. The Knowledge Engineering Review 38(1), doi: 10.1017/S026988892300005X
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