- For research and development of human-collaboration robotics operated within actual human living and work environments.
- For robotics-related research and development for movement, interaction, communication, image recognition, voice recognition, and voice synthesis.
HIRO was developed by Kawada Industries, Inc. with its background and know-how gained from lease and maintenance business with biped humanoid robot, HRP-2 “Promet.” By keeping the price low, Kawada released HIRO as an upper body humanoid robot platform that enables users to carry out practical robotics research activities.
HIRO enables its users to develop important technologies for next generation robotics including safety devices, image processing, voice recognition/synthesis, and work in real human environments. By incorporating an environment recognition device, for instance, an exterior camera, HIRO becomes a suitable research tool to developing future generation robotics systems.
Kawada has supplied over twenty HRP-series biped humanoid robot systems to research organizations. HRP-series robots were developed in collaboration with the National Institute of Advanced Industrial Science and Technology (AIST). Based on this background and experience, Kawada now considers HIRO as the starter set of the robot platform pertaining to research of human-sized robots.
- The payload for holding a certain object is, at maximum, 2kg (including the end effectors). Each arm is able to exert an operation force of approximately 100N (10kg).
- The tips of HIRO’s arms can move around at a speed of approximately by 700mm/second (Definition of the movement speed: the speed of the tips of HIRO’s arms for drawing the contour of the A4 size paper (297mm x 210mm) in repetitive fashion, starting from and ending at the centre of it (approximately 1,400mm in total)).
- The control software was developed in collaboration with General Robotix, Inc. (GRX).
- AIST (playing a key role), the University of Tokyo, and GRX collaborated together to develop the “Open HRP3 (Open-architecture Human-centred Robotics Platform version 3)” for simulation software. The simulation software possesses a feature which enables research and development engineers to operate it easily.
| Degrees of freedom | 15 axes (6 for arms x 2, 2 for neck, 1 for waist) | |
|---|---|---|
| Axes configuration | Arms | Shoulder Y - Shoulder P - Elbow P - Wrist Y - Wrist P - Wrist R |
| Neck | Neck Y - Neck P | |
| Body | Waist Y | |
| Payload (TCP) | 1.5 kg (one arm) | |
| 3.0 kg (two arms) | ||
| Position stabilization time *1 | Within 0.5 sec | |
| Positioning repeatability *1 | Within 30 μm | |
| Max speed of each axis *2 | Waist Y: 130 deg/s | |
| Neck Y: 150 deg/s | ||
| Neck P: 250 deg/s | ||
| Shoulder Y: 172 deg/s | ||
| Shoulder P: 133 deg/s | ||
| Elbow P: 229 deg/s | ||
| Wrist Y: 263 deg/s | ||
| Wrist P: 224 deg/s | ||
| Wrist R: 300 deg/s | ||
| Weight | 28 kg | |
- *1
- The test conditions are:
Load applied to hands: 1.5 kg
Position coordinate to be measured: (x, y, z) = (315, ±100, 220) (+: Left arm, -: Right arm)
Operation speed rated at: 100 %, 50 % and 10 %
Number of measurements: 30
Error band: ±30 μm
| Control computer | Hardware | OS | QNX® |
|---|---|---|---|
| CPU | Intel® Core™ 2Duo E7400 | ||
| Memory | 4GB | ||
| Empty slot | 1 PCI slots | ||
| Controller specification | Servo method | Digital servo | |
| PTP control | Linear, rotational | ||
| Interpolation | Angle interpolation, linear spherical interpolation | ||
| Command input | Position, Joint angle | ||
| Velocity specification | Velocity specification in percent | ||
| Velocity control method | Trapezoidal control | ||
| Joint angle sensor | Incremental encoder | ||
| Origin seek operation | Initialization using absolute sensor | ||
| Min command unit | Position: 0.01 (mm) or less, angle: 0.01 (deg) | ||
| Position teaching method | JOG | ||
| No. of coordinate systems | For system: 64, For user: 192 | ||
| No. of teachig positions | Unlimited (or 192 when the teaching pendant is used) | ||
| Communication interface | Via CORBA (omniORB 4.01 or later) / Ethernet | ||
| Power supply | Input voltage | AC85 to 264VΦ 1 (50Hz/60Hz) | |
| Supply cable | 3 m, grounded plug | ||
| Pause function | Local pause | Pause the right hand, left hand, waist or neck independently | |
| Total pause | Pause the entire body of a robot | ||
| External I/O | Digital I/O | Digital IN 32CH | 16 CHs for system, 16 CHs for users / 5 to 48V, < 4.7 mA |
| Digital OUT 32CH | 16 CHs for system, 16 CHs for users / 5 to 48V, < 100 mA | ||
| Ethernet | 1 line | ||
| Emergency stop switch: Expansion interface | Emergency stop switch (or circuit) provided by users is connectable | ||
| Pause switch: Expansion interface | Pause switch (or circuit) provided by users is connectable | ||
| Indicator light: Expansion interface | Indicator light provided by users is connectable | ||
| Teaching pendant: Interface | Optional teaching pendant is connectable / Emergency stop operation, pause operation, RS232C communication | ||
| Switch box: Interface | Switch box (standard equipment) is connectable / Emergency stop operation, pause operation | ||
| Operating computer | Ambient temperature | In operation | 0 to + 40 ℃ (JIS C 60068-2-1, 2) * |
| In storage | -10 ℃ to + 55 ℃ (JIS C 60068-2-1, 2) | ||
| Ambient operating humidity | 50 % RH at 40 ℃, 90 % RH at 20 ℃ (no condensation shall occur) (JIS C 60068-2-38) | ||
| External dimension | W470 x D365 x H180 (mm/projections excluded) | ||
| Weight | 20 kg | ||
- *
- Operation at 100 % speed requires requires the joint temperature of 25 ℃.
| OS | Microsoft Windows XP Embedded |
|---|---|
| Mother board | KINO - G45A - R10 (IEI) |
| CPU | Intel Core 2 Duo E8400 |
| Chipset | G45 + ICH10 |
| Memory | DDR2-800 DIMM 1GB x 2 |
| Storage device | SSD 16 GB |
| LAN | Realtek RTL8111CP PCle GbE Controller (Connected to the hub in the robot) |
| USB | USB2.0 x 6 |
| Audio | Realtek ALC888 HD codec x 1 |
| Chassis | EBC-3000-R10/ACE-A618A (IEI) |
| Environment | 0 to +40 ℃, 10 % to 90 % RH (No condensation shall occur) |
| Noise resistance | N.A. |
| Power supply | Input voltage: AC 90 - 264V (50/60 Hz) |
| External dimension | 230 x 280 x 88 (mm/projections excluded) |
| Weight | 3.9 kg |
| Joint | Motion range (deg) | |
|---|---|---|
| Body | Waist Y | ± 163 |
| Neck | Neck Y | ± 70 |
| Neck P | + 70 (+55), -20* | |
| Right arm | Shoulder Y | ± 88 |
| Shoulder P | + 60, -140 | |
| Elbow P | + 0, -158 | |
| Wrist Y | + 105, -165 | |
| Wrist P | ± 100 | |
| Wrist R | ± 163 | |
| Left arm | Shoulder Y | ± 88 |
| Shoulder P | + 60, -140 | |
| Elbow P | + 0, -158 | |
| Wrist Y | + 165, -105 | |
| Wrist P | ± 100 | |
| Wrist R | ± 163 | |
- *
- The motion range of Neck P is +70 when the neck faces forward or +55 when the neck does not face forward due to Neck Y operation.
QNX® is a registered trademark of QNX Software Systems Corporation, Canada.
Microsoft® and Windows® are registered trademarks of Microsoft Corporation of the USA and other countries.
Intel® and Core™ are a registered trademark and brand of Intel Corporation.
The specifications are subject to change.
Kawada’s sales of the new upper body humanoid robot platform “Hiro” (2009/05/11)
