Torobo is a humanoid research platform developed to accelerate our clients' robotics research.

To be on sale in December 2017. Now it's available for pre-order. For details, please email to contact[at]robotics.tokyo

Features

Joint structure suitable for research

Torobo is an upper torso humanoid, which has 6 joints for each arm (can be extended to 7), 2 joints for the waist, and 2 joints for the neck. It can have a wide task space by bending its waist.

Similar size to humans

Torobo is designed to have similar body size to humans. It can be used for the research of applying a robot to the human's living space, and the research of a robot working in a production line instead of workers.

Torque sensor for each joint and joint torque control

Because Torobo has torque sensors in all the joints and can control its joint torque directly, it can be used for the applied research of force control and impedance control.

Source code provided

Torobo comes with the source code of joint servo (position, velocity, torque), whole body dynamics, and user interface. You can modify the robot's behavior from the low level to the high level.

Mobility

Torobo is easy to carry because the robot and the controller are small. It can be driven by a battery because it's power supply is DC 24 V. You can use Torobo as a mobile humanoid by mounting it with a cart or an AGV.

Specifications

Arm

Degrees of freedom 6 (*can be extended to 7)
Reach 495 mm
Weight 10 kg
Payload 3 kg
Rotation range Joint 1 +/-160 degree
Joint 2 +105~-45 degree
Joint 3 +/-160 degree
Joint 4 +115~-45 degree
Joint 5 +/-160 degree
Joint 6 +/-105 degree
Maximum angular velocity 120 degree/s (Joint 1~4)
180 degree/s (Joint 5~6)
Repeatability +/-0.05 mm
Sensors 19/18-bit absolute encoder (output/input)
Torque sensor (all joints)
Current sensor (all joints)
Motor Blushless DC Motor
Gear Harmonic Drive™
Poser supply DC 24 V

Waist and Neck

Degrees of freedom waist:2, neck:2
Reach -
Weight 20 kg
Payload -
Rotation range Waist R +/-160 degree
Waist P +/-90 degree
   
Neck R +/-90 degree
Neck P +45~-70 degree
   
Maximum angular velocity 120 degree/s (waist)
180 degree/s (neck)
Repeatability +/-0.05 mm
Sensors 19/18-bit absolute encoder (output/input)
Torque sensor (all joints)
Current sensor (all joints)
Motor Blushless DC Motor
Gear Harmonic Drive™
Poser supply DC 24 V