RH5

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

Contact person:

Dipl.-Ing. Vinzenz Bargsten
Dipl.-Ing. Heiner Peters

Filedownloads

System sheet (german)
System sheet (english)

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
Sensors:	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
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
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)
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:	Phobos An add-on for Blender allowing editing and exporting of robots for the MARS simulation Rock Robot Construction Kit NDLCom Node Level Data Link Communication MARS Machina Arte Robotum Simulans

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.

Videos

RH5: Motion Capture State Feedback for Real-Time Control of a Humanoid Robot

The Video illustrates the results of the paper Mihaela Popescu, Dennis Mronga, Ivan Bergonzani, Shivesh Kumar, Frank Kirchner: "Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot", Accepted for Publication: MDPI Sensors Journal, Special Issue "Advanced Sensors Technologies Applied in Mobile Robot", 2022.

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

This paper presents a novel series-parallel hybrid humanoid called RH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-duty dynamic tasks with 5 kg payloads in each hand. The analysis and control of this humanoid is performed with whole-body trajectory optimization technique based on differential dynamic programming (DDP). Additionally, we present an improved contact stability soft-constrained DDP algorithm which is able to generate physically consistent walking trajectories for the humanoid that can be tracked via a simple PD position control in a physics simulator. Finally, we showcase preliminary experimental results on the RH5 humanoid robot.

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