Small Size Humanoid Robot
High performance humanoid robot "HAJIME ROBOT" is used as a platform for autonomous humanoid robot.
The mainstream of the small size robot is now "HAJIME ROBOT 42" and "HAJIME ROBOT 30". The actuator of HAJIME ROBOT 42 is the servo motor made by Futaba. A parallel link mechanism in the legs is adopted to improve walking accuracy. The actuator of HAJIME ROBOT 30 is the servo motor made by Robotis. A standard serial link mechanism in the legs is adopted.
We sell a platform kit for RoboCup humanoid league Kid size. The users won at the international robot soccer contest "RoboCup".
HAJIME ROBOT 30
<Example> Darmstadt Dribblers at RoboCup (Technische Universität Darmstadt)
HAJIME ROBOT 42
<Example> CIT Brains at RoboCup (Chiba Institute of Technology) (Japanese site)
Specifications
| HAJIME ROBOT 30 | HAJIME ROBOT 42 | |
|---|---|---|
| Height | 550[mm](1.80[ft]) | 600[mm](1.97[ft]) |
| Weight | 3[kg] | 3[kg] |
| Degrees of Freedom | 21 (Legs: 12, body: 1, arms: 6, head: 2) |
18 (Legs: 12, arms: 4, head: 2) parallel link in the legs |
| Frame | Aluminum plate | Aluminum plate, Carbon-fiber reinforced plastic (CFRP) |
| Actuators | Servo motors RX-28,RX-64 (Robotis) |
Servo motors RS405CB (Futaba) |
| Sensors | Gyroscopes (3-axis) Accelerometer (3-axis) |
Gyroscopes (3-axis) Accelerometer (3-axis) |
| Motion controller | HC5 for Robotis (HAJIME Controller)(CPU:SH2A/7211 160[MHz](Renesas Electronics)) | HC5 for Futaba (HAJIME Controller)(CPU:SH2A/7211 160[MHz](Renesas Electronics)) |
| Autonomous controller (Option) | PC board | PC board |
| Camera (Option) | USB Camera | USB Camera |
| Batteries (Option) | Li-Po 7.4[V] x2 | Li-Po 11.1[V] |
| Development environment for motion controller | SH2 cross C compiler, RTM (real time monitor), MLD (motion loader), C source program | 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 | Windows OS, Microsoft Visual Studio |
| Features | High-speed walking All directional walking Kicking Getting up after falling |
High-speed walking All directional walking Kicking Getting up after falling |
System configuration of the humanoid robot
International soccer robot contest "RoboCup"
Biped robot battle contest "ROBO-ONE"
HAJIME ROBOT 18 (2006)
HAJIME ROBOT 15 (2005)
HAJIME ROBOT 11 (2004)
HAJIME ROBOT 9 (2003)
HAJIME ROBOT 5 mastered Chinese Tai-chi (2003)
HAJIME ROBOT 4 achieved two consecutive wins at ROBO-ONE Bandai cup (2003)
HAJIME ROBOT 2 walked in static walk and walked stairs (2002)
HAJIME ROBOT 1 : walking test robot (2002)
Videos
Running of HAJIME ROBOT 15
Running of HAJIME ROBOT 15
HAJIME ROBOT 18 won at rough terrain walk race at RoboCup 2006
High speed walking of HAJIME ROBOT 11
