Videos

Hammering a nail

toroboimpedance control

This is a demo of hammering a nail. The instantaneous rebound force from the hammer is absorbed through a combination of the elasticity of the rubber material securing the hammer, the deflection in torque sensors and harmonic gears, backdrivability, and impedance control. This allows the nail to be driven with a certain amount of force.

Sawing wood using impedance control

toroboimpedance control

This is a demo of cutting wood with a saw. When using position control for this task, precise measurement of the cutting amount is necessary. However, by using impedance control, this requirement is eliminated, allowing for successful cutting with only rough commands.

Box transportation using a puppet-type teleoperation device

toroboteleoperationpuppeteering

This is a demonstration of transporting a box using a puppet-type teleoperation device. The device can be operated intuitively as the joint configuration of the robot and the puppet are the same. The mobile base is controlled by a controller attached to the puppet's hand.

Torque and Impedance control of Torobo Hand

torobo handimpedance control

Our Torobo Hand can grasp objects of any shape using torque and impedance control, without prior knowledge of their exact dimensions.

Table wiping using impedance control

toroboimpedance control

The robot can press down on the towel with appropriate force, making it highly compatible with control by generative AI.

Shock absorption using impedance control

toroboimpedance control

Torobo carrying a 25 kg (55 lbs) bag. Its backdrivability and impedance control help absorb a sudden change in external force.

Torobo Hand

torobo hand

This is a 10-axis multi-finger hand using the world's smallest cycloidal reducer developed by Tokyo Robotics. Utilizing an efficient cycloidal reducer enables impedance control. This allows not only to conform to various object shapes but also to prevent jamming fingers.

Whole-body humanoid robot - Torobo

torobo

This video shows the basic performance of humanoid robot “Torobo”, which is used as a research platform for JST’s Moonshot R&D program (Goal 3: Smart Robot that is Close to One Person for a Lifetime).

Shoebox picking with Torobo GTC

logisticsgtc

This is a demo of shoebox picking using Torobo GTC. The system does not require picking stations, which reduces labor costs and enables 24-hour unmanned operation. Additionally, it offers storage efficiency due to its capability of direct picking from shelves approximately 3.9 meters high.

Shoebox picking with Torobo GTC (with depth)

logisticsgtc

This is a demo of shoe box picking using Torobo GTC. It can also handle boxes where there are multiple layers in the depth direction (for example, automating operations in fixed locations previously performed manually).

Server check demo at datacenter

tolondatacenter

This is a demo of a remote inspection solution in a NTT Communications' datacenter. The robot can move autonomously, opening and closing the aisle cap, remotely control the 6-axis posture of the arm, and take pictures inside the server rack using the end-of-arm camera.

Autonomous Case-handling Robots

tolonlogistics

This is a demo of automatic case handling using a mobile manipulator "Tolon" and a Mobile Gripper(TM). They recognize boxes and conveyors, and conduct the task autonomously

Whole-body humanoid robot - Toala

toala

This video shows the basic performance of a humanoid robot Toala. By estimating the external force from the motor current value, impedance control is possible without joint torque sensors.

Mobile Manipulator - Tolon

tolon

Tolon is a mobile manipulator that can work in narrow spaces thanks to its asymmetrical arm arrangement and omni-directional mobile base. It is ideal for the development of autonomous robots that automate material handling, short-distance transport, security, patrolling, etc.

Remote force control using Torobo

toroboteleoperationbilateral control

This is an application of a bilateral control system, which can transmit external force of a humanoid robot to its operator. This system is a result of joint development since we were selected for the Open Innovation Program by NTT Communications in 2019.

Remote Control of Humanoid Robot Toala

toalateleoperationmotion capture

This is a demo of remotely controlled Toala, a humanoid robot capable of force control without joint torque sensors. Noitom's Perception Neuron PRO is used as the control device. This system is provided as an optional extra of Toala.

Palletizing with Mobile Gripper

mobile gripperlogistics

This is a demo of automatic palletizing with a Mobile Gripper(TM). By using left and right independent movable grippers and force detection, cardboard boxes are stacked without gaps.

Bilateral control demo of a remote humanoid

flagshipteleoperationbilateral control

This is a demo of force and position control of a humanoid robot from a remote location using bilateral control over a network. This is the result of joint work with NTT Communications.

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