Design of the upper body of a humanoid robot saika-3

摘要

In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 has been developed. The Saika-3 will have 30 DOFs in the final state, that is, 12 DOFs for the biped, 14 DOFs for the dual arms, 2 DOFs for the camera head, and 2 DOFs for the hands. The Saika-3 is equipped with an IBM PC/AT clone, batteries, a wireless ethernet modem, a gyroscope, and the robot drivers inside its torso. This paper presents the design of the torso and arms.