Humanoid robot as an assistance system in a human-optimized environment

Technical Details

Size: 360 x 750 x 2000 mm
Weight: 62 kg
Power supply:
48 V (Power Adapter)
Speed: 0.5 m/s
Actuation/ Engine:
17x BLDC RoboDrive + HarmonicDrive
10x RoboDrive + Ballscrew
4x Maxon
3x Dynamixel
2x ZED mini for near field object detection,
Xsens MTi-300 AHRS IMU,
Velodyne LiDAR VLP-16 Puck for mapping and self-localization,
ATI 6-DOF force torque sensors (4 pc.) at wrist and ankle joint, absolute angle measurement in each joint, force sensors in linear drives of legs
Motor electronics:
DFKI electronic stack for all drives:
- Input voltage: 12V-54V
- FPGA- Spartan 6:XC6SLX45
- Serial communication for Spartan-6 (320MSym/s)
- Sinusoidal commutation
- 2 x LVDS for local sensors
- 2 x Ports for IC Haus MU sensors

Organisational Details

Application Field: Assistance- and Rehabilitation Systems
Logistics, Production and Consumer
Space Robotics
Related Projects: TransFIT
Flexible Interaction for infrastructures establishment by means of teleoperation and direct collaboration; transfer into industry 4.0 (07.2017- 12.2021)
Learning and Verifying Complex Behaviours for Humanoid Robots (06.2020- 05.2024)
Related Robots: RH5 Manus
Humanoid robot as an assistance system in a human-optimized environment
Dual Arm Exoskeleton
Exoskeleton for upper body robotic assistance (Recupera REHA)
Related Software: ARC-OPT
Adaptive Robot Control using Optimization
Hybrid Robot Dynamics
Node Level Data Link Communication
An add-on for Blender allowing editing and exporting of robots for the MARS simulation

System description

Robot RH5 test bed (Foto: Heiner Peters, DFKI)
The humanoid robot RH5 was developed as an assistance robot and against the background of long-term autonomous missions in environments designed for humans, e.g. on a future moon station. A humanoid design of the robot is suitable for interaction with humans as well as for locomotion and manipulation in a real environment. In addition to autonomous and semi-autonomous use, the robot should also be able to be teleoperated by means of an exoskeleton, whereby the visual perception and acting forces and torques of the robot are made available to the controlling person by means of virtual reality methods.

In the mechanical development, a hybrid serial parallel design architecture was employed to achieve a lightweight design with high stiffness and good dynamic properties. In addition to rotatory drive units, linear drive units are also used to exploit non-linear transmission properties.


Design, Analysis and Control of the Series-Parallel Hybrid RH5 Humanoid Robot

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last updated 22.08.2023
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