Humanoid robot demonstrates precision in industrial tasks Tokyo Robotics unveils Torobo

Tokyo Robotics has unveiled its latest humanoid robot, Torobo, showcasing its precision and versatility in a recent demonstration. Designed to advance industrial automation, Torobo stands out with its human-like dimensions and capabilities, including accurate hammering of nails and intricate assembly tasks.

Equipped with advanced features like impedance control, fall prevention, and sophisticated motion capture technology, Torobo aims to revolutionize the way robots interact with people and environments.

The robot's integration with ROS software and its ability to perform complex tasks with high safety standards highlight its potential for significant impact in research and industrial applications, Caliber.Az reports citing the foreign media.

A new video showcases a humanoid robot from Tokyo Robotics demonstrating precise hammering of a nail into wood. This accurate and coordinated performance highlights the robot's potential for industrial applications, according to the manufacturer.

Standing 1660 mm tall with a reach of 680 mm, the robot's dimensions are similar to those of a human. The company notes that each arm can handle a payload of 8 kg in less favourable positions and up to 20 kg when the elbow is bent at a right angle, making it suitable for robotics research and development tasks aimed at replacing human labour.

The company also mentioned that the hammering task, while impressive, is actually simpler for the robot than it appears.
Tokyo Robotics explains that the robot absorbs the instantaneous rebound force from the hammer through a combination of the hammer's rubber material elasticity, torque sensor deflection, harmonic gears, backdrivability, and impedance control. This sophisticated mechanism ensures that nails are driven with the appropriate force.

The robot is equipped with torque sensors at all arm and waist joints, allowing for precise force control and safe interactions. This feature enhances its ability to perform assembly tasks, cooking, and physical interactions with humans more safely and skillfully.

With its 7-axis dual arms, 3-axis waist (pitch, pitch, yaw), 3-axis neck (yaw, pitch, roll), and 4-axis omni-directional undercarriage, the robot achieves a range of motion comparable to human beings, making it well-suited for both living and working environments.

Designed to advance research into industrial humanoid robots, Torobo is ideal for studying task automation involving human interaction, exploring next-generation force-controllable robots, and applying machine learning techniques to robotics.

Torobo leverages advanced features such as impedance control within a Cartesian coordinate system, fall prevention through Zero Moment Point (ZMP) monitoring, a state machine for coordinating multiple movements, and safety stops based on interference detection.

The robot’s software is built on ROS (Robot Operating System), which facilitates easy access to functions like state visualization with RViz, trajectory planning using ROS standard software MoveIt!, and comprehensive logging of sensor data, including camera images, joint angles, and joint torques.

For motion teaching, machine learning, and remote control applications, Torobo utilizes Noitom’s Perception Neuron PRO motion capture system. This system supports singularity avoidance, self-interference protection, and torque-limiting functions, especially in physically constrained situations like pushing objects. Additionally, it allows for independent control of the left and right arms, grippers, neck, waist, and mobile base.