SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios

Aghil Yousefi-Koma; Behnam Maleki; Hessam Maleki; Amin Amani; Mohammad Ali Bazrafshani; Hossein Keshavarz; Ala Iranmanesh; Alireza Yazdanpanah; Hamidreza Alai; Sahel Salehi; Mahyar Ashkvari; Milad Mousavi; Milad Shafiee Ashtiani

arXiv · 2108.13515

SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios

Aghil Yousefi-Koma·Behnam Maleki·Hessam Maleki·Amin Amani·Mohammad Ali Bazrafshani·Hossein Keshavarz·Ala Iranmanesh·Alireza Yazdanpanah·Hamidreza Alai·Sahel Salehi·Mahyar Ashkvari·Milad Mousavi·Milad Shafiee Ashtiani

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Abstract

This paper describes the hardware, software framework, and experimental testing of SURENA IV humanoid robotics platform. SURENA IV has 43 degrees of freedom (DoFs), including seven DoFs for each arm, six DoFs for each hand, and six DoFs for each leg, with a height of 170 cm and a mass of 68 kg and morphological and mass properties similar to an average adult human. SURENA IV aims to realize a cost-effective and anthropomorphic humanoid robot for real-world scenarios. In this way, we demonstrate a locomotion framework based on a novel and inexpensive predictive foot sensor that enables walking with 7cm foot position error because of accumulative error of links and connections' deflection(that has been manufactured by the tools which are available in the Universities). Thanks to this sensor, the robot can walk on unknown obstacles without any force feedback, by online adaptation of foot height and orientation. Moreover, the arm and hand of the robot have been designed to grasp the objects with different stiffness and geometries that enable the robot to do drilling, visual servoing of a moving object, and writing his name on the white-board.

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Aghil Yousefi-Koma, Behnam Maleki, Hessam Maleki, Amin Amani, Mohammad Ali Bazrafshani, Hossein Keshavarz, Ala Iranmanesh, Alireza Yazdanpanah, Hamidreza Alai, Sahel Salehi, Mahyar Ashkvari, Milad Mousavi, Milad Shafiee Ashtiani. 2021-08-30. SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios. https://arxiv.org/abs/2108.13515

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