Design and development of a light-weight biped humanoid robot saika-4

Satoru Shirata, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

    18 Citations (Scopus)

    Abstract

    In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-4 is developed. The Saika-4 is a self-sustained biped robot equipped with two arms and a robotics head. The Saika-4 is designed so as to be light weight, low cost and human size. The weight will be about 47 [kg], and the height is about 1300 [mm]. The Saika-4 will have 30 DOF in total, that is 6 DOF for each leg, 7 DOF for each arm, 1 DOF for each hand and 2 DOF for robotics head. The Saika-4 is equipped with a PC, batteries, a wireless ethernet modem, a gyroscope, and motor drivers in the body. Furthermore, the Saika-4 is equipped with a gravity compensation mechanism using springs in the legs. This paper presents the design of a humanoid robot Saika-4 and the progress of the project. The details of the gravity compensation mechanism is also presented.

    Original languageEnglish
    Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages148-153
    Number of pages6
    Publication statusPublished - 2004 Dec 1
    Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
    Duration: 2004 Sep 28 → 2004 Oct 2

    Publication series

    Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Volume1

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    CountryJapan
    CitySendai
    Period04/9/28 → 04/10/2

    ASJC Scopus subject areas

    • Engineering(all)

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    Shirata, S., Konno, A., & Uchiyama, M. (2004). Design and development of a light-weight biped humanoid robot saika-4. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 148-153). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 1).