Development of life-sized high-power humanoid robot JAXON for real-world use

Kojima, Kazuyuki; Karasawa, Tatsuhi; Kozuki, Toyotaka; Kuroiwa, Eisoku; Yukizaki, Sou; Iwaishi, Satoshi; Ishikawa, Tatsuya; Koyama, Ryo; Noda, Shintaro; Sugai, Fumihito; Nozawa, Satoshi; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/humanoids.2015.7363459

Cited by 99 publications

(18 citation statements)

References 14 publications

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“…The RoboSimian was a four-legged robot that can walk with a one-leg or twoleg swing gait (Byl & Byl, 2015). JAXON was developed as a high-power platform that also has a high range of motion (Kakiuchi et al, 2015;Kojima et al, 2015). Valkyrie was a humanoid developed by NASA for the SRC challenge and to work specifically in space (Valkyrie, 2015).…”

Section: Related Workmentioning

confidence: 99%

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Chan¹,

Mizohana²,

Chen³

et al. 2018

Journal of Field Robotics

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The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.

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Section: Related Workmentioning

confidence: 99%

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Chan¹,

Mizohana²,

Chen³

et al. 2018

Journal of Field Robotics

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“…In terms of design, the DRC humanoid robots SCHAFT [4] and JAXON [5] were built to improve heat dissipation and thermal management capabilities through the use of liquid-cooled electric actuators. Another two humanoids, ESCHER [6] and VALKYRIE [7], [8] were built with force control and ground impact resistance via the use of Series Elastic Actuators (SEAs).…”

Section: Introductionmentioning

confidence: 99%

Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators

Ahn

Kim

Bang

et al. 2019

2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)

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This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design embodying a Reaction Force Sensing Series Elastic Actuator (RFSEA) and a Force Sensing Series Elastic Actuator (FSEA). These designs are aimed at reducing the size and weight of the robot's actuation system while inheriting the advantages of our designs such as energy efficiency, torque density, impact resistance and position/force controllability. The system design takes into consideration human-inspired kinematics and rangeof-motion (ROM), while relying on foot placement to balance. In terms of actuator control, we perform a stability analysis on a Disturbance Observer (DOB) designed for force control. We then evaluate various position control algorithms both in the time and frequency domains for our VLCA actuators. Having the low level baseline established, we first perform a controller evaluation on the legs using Operational Space Control (OSC) [2]. Finally, we move on to evaluating the full bipedal robot by accomplishing unsupported dynamic walking by means of the algorithms to appear in [3].

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“…This trend has generated a growing interest in the performance improvement of multi-degree-of-freedom (multi-DOF) robot arm systems, along with the need to develop smaller motors with higher power densities [1]. However, as the pace of motor performance development slows down, various technical innovations are underway to optimize the installation environment of the actuator (e.g., specialized housing and forced cooling devices) [2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

“…The parameters that determine the extent of performance improvement achieved by forced cooling are the thermal resistance and thermal capacitance of the winding and housing [2][3][4][5], which vary according to the motor's geometrical characteristics, slot type, and manufacturing method. Therefore, to compare the thermal characteristics of motors objectively, it is necessary to establish the relationship between parameters such as volume, surface area, slot type, thermal resistance, and capacitance.…”

Section: Introductionmentioning

confidence: 99%

Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems

et al. 2018

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This paper proposes a concentrically stacked modular (CoSMo) actuator with rotary electric motors to implement multi-degree-of-freedom (multi-DOF) robotic systems with high power densities. The CoSMo actuator shows a novel design concept, which enables the actuator module with an integrated radiator to be combined in series and cooled by a single fan. This unique system has elevated thermal characteristics owing to the heatsink sharing effect. This enables the module to carry higher current by decreasing the temperature-rise rate. Also, the proposed design concept reduces the number of components required for cooling and allows the actuator to be placed concentrically, which contributes to the system having low mechanical impedance and higher power output per unit mass. The thermal characteristics and feature of the CoSMo actuator were analytically and numerically verified by simulation using a simplified model. To advance the thermal characteristics of the system further, the adequate actuator types for the CoSMo actuator were analyzed and a prototype was fabricated based on the analysis. Through the experiment using the prototype, we verified that the maximum continuous current that can be applied to the CoSMo actuator is up to about three times greater than the rated current in a forced air-cooling environment.

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Development of life-sized high-power humanoid robot JAXON for real-world use

Cited by 99 publications

References 14 publications

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Control of a High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators

Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems

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