Torobo has the following features and can be used for research on automation of tasks that involve active contact with people, the environment, and objects, research on applications for next-generation force-controllable dual-armed robots, and research on applying machine learning to robots.
Size and strength equivalent to humans
With a height of 1660 mm, a reach of 680 mm, and a cart width of 625 mm, the size of the robot is close to that of humans. The payload of one arm is 8 kg at the worst-case holding posture and 20 kg at the instantaneous maximum holding force (when the elbow is bent at a right angle), which are sufficient to conduct robotics R&Ds to replace human work.
Sufficient joint configuration for a wide variety of tasks
The joint configuration of 7-axis dual arms, 3-axis waist (pitch, pitch, yaw), 3-axis neck (yaw, pitch, roll), and 4-axis undercarriage (omni-directional mobile base) enables the robot to do tasks with a range of motion similar to human beings in living and working spaces of people.
Torque sensing and impedance control of arm and waist
Equipped with torque sensors at all joints of the arms and waist, the joint torque control enables safe contact stops and force-controlling task executions. Assembly tasks, cooking, and physical interaction with humans can be performed more safely and skillfully.
Because it is ROS-compatible, the robot in Gazebo (a simulator for ROS) and the actual robot can be operated using the same program. This makes it possible to safely verify the robot's behavior. In addition, trajectory planning and self-interference detection using the MoveIt! are implemented as standard.