ROBOT HRP-5P

 

ROBOT HRP-5P



HRP-5P is an advanced humanoid capable of using power tools and handling large objects like drywall sheets. It's the latest model in the HRP series of Japanese humanoids, and is designed as an R&D platform

umio Kanehiro (Leader), Kenji Kaneko (Chief Senior Researcher), Takeshi Sakaguchi (Senior Researcher), and others of the Humanoid Research Group, the Intelligent Systems Research Institute (Director: Yoshihiro Kawai), the National Institute of Advanced Industrial Science and Technology (AIST; President: Ryoji Chubachi), have developed a humanoid robot prototype, HRP-5P, intended to autonomously perform heavy labor or work in hazardous environments.

As a 182 cm, 101 kg humanoid robot, HRP-5P was built on HRP series technologies by incorporating new hardware technologies. Within the series, it has unsurpassed physical capabilities. Its robot intelligence comprises environmental measurement and object recognition, full-body motion planning and control, task description and execution management, and highly reliable systemization technologies. Housing the intelligence in this body has enabled autonomous gypsum board installation by the robot, which is a typical example of heavy labor at construction sites. The use of HRP-5P, as a development platform, in collaboration between industry and academia promises to accelerate R&D toward practical application of humanoid robots at building construction sites and in assembly of large structures such as aircraft and ships.

A part of developed technologies will be presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), to be held from October 1 to October 5 in Madrid, Spain. In addition, a static exhibition of the robot will be presented at World Robot Expo 2018, to be held from October 17 to October 21 at Tokyo Big Sight in Koto, Tokyo.

Integration of these technologies has enabled autonomous gypsum board installation in which HRP-5P handles and carries large, heavy objects at a simulated residential construction site independently.

Specifically, this work involves the following series of operations.


① Generate a 3D map of the surrounding environment, detect objects, and approach the workbench.

② Lean against the workbench, slide one of the stacked gypsum boards to separate it, and then lift it.

③ While recognizing the surrounding environment, carry the gypsum board to the wall

④ Lower the gypsum board and stand it against the wall.

⑤ Using high-precision AR markers, recognize and pick up a tool.

⑥ Holding a furring strip to keep HRP-5P itself steady, screw the gypsum board into the wall.





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