SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for\n Real-world Scenarios Article Swipe
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· 2021
· Open Access
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· DOI: https://doi.org/10.48550/arxiv.2108.13515
· OA: W4287019052
This paper describes the hardware, software framework, and experimental\ntesting of SURENA IV humanoid robotics platform. SURENA IV has 43 degrees of\nfreedom (DoFs), including seven DoFs for each arm, six DoFs for each hand, and\nsix DoFs for each leg, with a height of 170 cm and a mass of 68 kg and\nmorphological and mass properties similar to an average adult human. SURENA IV\naims to realize a cost-effective and anthropomorphic humanoid robot for\nreal-world scenarios. In this way, we demonstrate a locomotion framework based\non a novel and inexpensive predictive foot sensor that enables walking with 7cm\nfoot position error because of accumulative error of links and connections'\ndeflection(that has been manufactured by the tools which are available in the\nUniversities). Thanks to this sensor, the robot can walk on unknown obstacles\nwithout any force feedback, by online adaptation of foot height and\norientation. Moreover, the arm and hand of the robot have been designed to\ngrasp the objects with different stiffness and geometries that enable the robot\nto do drilling, visual servoing of a moving object, and writing his name on the\nwhite-board.\n
