RH5 Manus
Humanoid robot as an assistance system in a human-optimized environment
Contact person:
Technical Details
| Size: | 340 x 580 x 1870 mm (on platform) |
| Weight: | 36 kg (excluding platform, equipped with 2x 4-finger-gripper) |
| Power supply: | 48 V, 5 Ah, LiFePo Akku |
| Actuation/ Engine: | 19x BLDC RoboDrive + HarmonicDrive,
8x RoboDrive + Ballscrew,
3x Dynamixel |
| Sensors: | 2x ZED Mini stereo camera for object detection
Xsens MTi-300 AHRS IMU
Velodyne LiDAR VLP-16 Puck for mapping and self-localization
ATI 6-DOF force torque sensors (2 pc.) at wrist joints,
Absolute angle measurement in each joint, current measurement enables force control in each joint |
| Communication: | LVDS |
| 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 |
| Gripper: | optional 2-, 3- und 4-finger-gripper, passiv adaptiv |
Organisational Details | |
| Sponsor: |
Federal Ministry for Economic Affairs and Climate Action
German Aerospace Center e.V. |
| 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)
VeryHuman
Learning and Verifying Complex Behaviours for Humanoid Robots
(06.2020- 05.2024)
|
| Related Robots: |
RH5
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
HyRoDyn
Hybrid Robot Dynamics
NDLCom
Node Level Data Link Communication
Phobos
An add-on for Blender allowing editing and exporting of robots for the MARS simulation
|
System description
The humanoid robot RH5 Manus is a further development of the robot RH5, which was developed for use in a direct human environment, e.g. on a future moon station. The upper body as well as the arms and the head of the robot, which serves as a sensor carrier for the visual and acoustic perception of the system, were revised for this robot. 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 moments of the robot are made available to the controlling person by means of virtual reality methods. For the time being, the robot was installed on a passive platform. There is an interface compatible to the legs of the robot RH5.
The hybrid serial and parallel design architecture was further developed to optimize weight while increasing stiffness. For improved dynamic behavior, the drive components of the arms were optimized and masses were shifted towards the shoulder joints. The system was equipped with modular grippers which are optionally available in 3 variations as 2-, 3- and 4-finger grippers and can be exchanged with little effort on the robot. The grippers are adaptive and equipped with a haptic sensor system.
The hybrid serial and parallel design architecture was further developed to optimize weight while increasing stiffness. For improved dynamic behavior, the drive components of the arms were optimized and masses were shifted towards the shoulder joints. The system was equipped with modular grippers which are optionally available in 3 variations as 2-, 3- and 4-finger grippers and can be exchanged with little effort on the robot. The grippers are adaptive and equipped with a haptic sensor system.
