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AILA

AILA is a humanoid robot used by researchers to study mobile manipulation, robot perception, and AI. She's learning to perform tasks in human environments and training to become an astronaut.

FEATURES

Equipped with a six-wheel mobile base. Able to create maps and navigate autonomously. Lightweight arm able to lift up to 8 kg (17.6 lb).

HEIGHT

173 cm | 68 in (including mobile base)

LENGTH

115 cm | 45.3 in

WIDTH

75 cm | 29.5 in

WEIGHT

97 kg | 214 lb

SPEED

8 km/h | 5 mph

SENSORS

Head with two cameras. Torso with short-range laser scanner and 3D time-of-flight camera. Arms with two six-axis force/torque sensors. Hands with tactile sensors. Mobile base with two long-range laser scanners.

ACTUATORS

14 brushless DC motors for the arms, 4 linear dc motors for the torso, 12 motors on the wheels, 2 servos for the head.

POWER

48-V 4.5-Ah nickel-metal hydride battery, 0.5 hour of operation.

COMPUTING

Three embedded PCs with dual core CPUs for motion control, navigation, and vision processing. Each arm joint with custom FPGA-based controllers.

SOFTWARE

Linux OS and custom software based on ROS (communication layer), ROCK (middle layer), and Roby (high level).

DEGREES OF FREEDOM (DOF)

50 (Head: 2 DoF; Arm: 7 DoF x 2; Hand: 9 active DoF x 2; Torso: 4 DoF; Mobile base: 12 DoF)

MATERIALS

Carbon fiber, aluminum, steel.

COST

N/A

STATUS

Ongoing

WEBSITE

http://robotik.dfki-bremen.de/en/research/robot-systems/aila-1.html