HRP-2 is the final robotic platform for the Humanoid Robotics Project headed by the Manufacturing Science and Technology Center (MSTC), which is sponsored by the Ministry of Economy, Trade and Industry (METI) through New Energy and Industrial Technology Development Organization (NEDO).
The total robotic system was designed and integrated by Kawada Industries, Inc. together with the Humanoid Research Group of National Institute of Advanced Industrial Science and Technology (AIST). Yaskawa Electric Corporation provided the initial concept design for the arms and AIST 3D Vision Research Group and the Shimizu Corporation provided the vision system.
HRP-2’s height is 154 cm and its mass is 58 kg, including batteries. It has 30 degrees of freedom (DOF) including two DOF for its hip. The cantilevered crotch joint allows for walking in a confined area. Its highly compact electrical system packaging allows it to forgo the commonly used "backpack" used on other humanoid robots.
The height, mass, and DOF of the new robot are the same as the HRP-2P that was released in March 2002. The following features have been upgraded in the new model.
- Performance Upgrade: Cooling systems incorporated in the leg actuators allow enhanced continuous stepping endurance. Feet are designed for walking on an uneven surface. Links and axial stiffness are significantly upgraded to improve walking motion and operational performance.
- Reliability Upgrade: Electrical device noise was reduced to improve system reliability. Cooling systems were installed in both the computer and the actuator drive systems to improve temperature control.
- Compact size upgrade: Electrical harnesses were made into ICs and a specially designed battery cage was developed to make the torso even more compact.
The external appearance of HRP-2 was designed by Mr. Yutaka Izubuchi, a mechanical animation designer famous for his robots that appear in Japanese anime, including the well-known "PATLABOR." Mr. Izubuchi also named HRP-2 "Promet."
HRP-2 will be used for experiments to further develop robotic technologies in the areas of "walking on uneven surfaces," "tipping-over control," "getting up from a fallen position," and "human-interactive operations in open spaces."
Meanwhile, Kawada Industries will start renting HRP-2 as a humanoid robot R&D platform. Internal API for HRP-2 is expected to be open to the public and its users will be able to develop their own software. It is anticipated that HRP-2s will greatly enhance humanoid robot technology research activities.
- Many DOF system despite light weight construction: 154 cm Height, 58 kg Mass, and 30 DOF
- Cantilevered crotch joint structure allows for walking in confined area
- Highly compact electrical system packaging to forgo a "backpack"
- Experiments to realise "walking on uneven surfaces," "tipping-over control," "getting up from a fallen position," and "human-interactive operations in open spaces" are planned.
- Users will be able to develop application software due to open architecture.
| Dimensions | Total Height : 1,540mm, Total Width : 620mm | |
|---|---|---|
| Mass (including batteries) | 58kg | |
| Degrees of Freedom | 30 axes | |
| Walking Speed | 0~2km/h | |
| Hand Grip | 2kgf (per hand) | |
| Sensors | Torso | 3-axes vibration gyro 3-axes velocity sensor |
| Arms | 6-axes force sensors | |
| Legs | 6-axes force sensors | |
| Motor Drivers | 48V 20A (I max) 2 axes / driver x 16 | |
| Power System | NiMH Battery DC 48V 14.8Ah | |
