Human Support Robot
The Human Support Robot (HSR) is a compact mobile manipulator for the disabled and elderly. HSR can move around the house, keep watch over family members, and fetch objects. Its creators hope to make HSR beneficial to all people in the near future.
FEATURES
Compliant control of arm joints. Compact body and smooth omni-directional movement. Integrated control of multi-DoF arm and omni-directional base. Large workspace, with arm able to fetch boxes from a high shelf as well as objects on the floor.
HEIGHT
100 cm | 39 in (The robot can raise its telescoping body and reach 135 cm)
LENGTH
43 cm | 17 in
WIDTH
43 cm | 17 in
WEIGHT
37 kg | 81.5 lb
SPEED
0.8 km/h | 0.5 mph
SENSORS
Base with lidar, 6-axes IMU, and sensor to detect magnetic tape (used to delimit boundaries). Head with Asus Xtion PRO Live, stereo camera, wide-angle camera, and microphone array. Hand with force sensor and wide-angle camera.
ACTUATORS
11 motors
POWER
Lithium-ion battery
COMPUTING
Intel CPU and Nvidia GPU. Expansion ports include USB, VGA, serial, power, auxiliary emergency stop, LAN.
SOFTWARE
Ubuntu Linux OS, ROS, custom software stack for navigation, manipulation, and perception.
DEGREES OF FREEDOM (DOF)
11 (Neck: 2 DoF; Arm: 4 DoF; Gripper: 1 DoF; Torso: 1 DoF; Base: 3 DoF)
MATERIALS
Steel, aluminum, 3D-printed parts
COST
N/A
STATUS
Ongoing
WEBSITE
https://www.toyota-global.com/innovation/partner_robot/robot/#link02