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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