Middle Size Humanoid Robot

Middle size humanoid robot can afford to the size and weight that can be mounted equipment such as a small PC and cameras. The weight of the robot is 10 [kg] and light, so that it is relatively easy to operate and test it. The controller and system configuration is the same in all sizes of the robot, so that it is easy to migrate to small size to medium size robots.

The mainstream of the middle size robot is now "HAJIME ROBOT 39". The robot has high torque servo motors made by Vstone in the legs. A parallel link mechanism in the legs is adopted to improve walking accuracy. It is possible to change the actuators from Vstone servo motors to Robotis or Futaba servo motors.

We sell a platform kit for RoboCup humanoid league Teen size. The user won at RoboCup 2010 (CIT Brains at RoboCup 2010).

HAJIME ROBOT 39
<Example> CIT Brains at RoboCup (Chiba Institute of Technology) (Japanese site)

Specifications

	HAJIME ROBOT 39
Height	1000[mm](3.28[ft])
Weight	10[kg]
Degrees of Freedom	17 (Legs: 10, arms: 6, head: 1) parallel link in the legs
Frame	Aluminum plate, Carbon-fiber reinforced plastic (CFRP)
Actuators	Servo motors VS-SV3310, VS-SV1150 (Vstone), RX-28 (Robotis)
Sensors	Gyroscopes (3-axis) Accelerometer (3-axis)
Motion controller	HC5 for Robotis (HAJIME Controller)(CPU:SH2A/7211 160[MHz](Renesas Electronics))
Autonomous controller (Option)	PC board
Camera (Option)	USB Camera
Batteries (Option)	Li-Po 14.8[V]
Development environment for motion controller	SH2 cross C compiler, RTM (real time monitor), MLD (motion loader), C source program
Development environment for autonomous controller (Option)	Windows OS, Microsoft Visual Studio
Features	High-speed walking All directional walking Kicking