**3.4.1 Android/Humanoid robots**

Humanoid robots are complex autonomous systems that can adapt to changes in the environment. Their appearance, function and motion capability are entirely depending on the equivalent in the human body. Androids not only interpret the human body's function but are designed to imitate human appearance and behavior. For both humanoids and androids service scenarios can easily be envisioned, yet, due to their technical complexity,

Exoskeleton and Humanoid Robotic Technology in Construction and Built Environment 135

Application in Construction: Control of existing standard construction machinery by teleoperated humanoids (Figure 13). Humanoid Robots (as e.g. HRP-2) can assist workers in construction environments by carrying and installing building parts and building modules

Fig. 13. Left: HARP Humanoid Robot driving forklift delivering construction material.

Especially in Japan, a multitude of so called Entertainment Robots and Service Robots are developed and sold. Entertainment robots are designed to amuse, communicate, and perform simple tasks in the household. Mitsubishi's Wakamaru and Sony's Aibo for example had primarily been designed to communicate with household members and play music, not for providing care or household services. Yet, as the upkeep of social interaction increasingly becomes an integral part of care strategies, the taking over of entertainment and communication tasks by robots is envisioned by researchers and developers. Furthermore,

KHR-3: http://hubolab.kaist.ac.kr/KHR-3.php

**KHR-3 (HUBO)** 

**Developer** KAIST **Height** 1250 mm **Width** 417mm **Depth** 210mm **Weight** 56 kg

**Operation Time** 90 min.

(Figure 01).

Copyright T. Bock

**Walking Speed** 0 ~ 1.25 km/h **Grasping Force** 0.5 kg / finger **Total DOF** 41 DOF

**Power Supply** 300W NiMH Battery

Tilt Sensor CCD Camera Pressure Sensor

Right: Honda's Asimo controlling an excavator.

**3.4.2 Service robots (service in buildings)** 

**Sensor** 3-axis F/T Sensor

real world applications are still rare. Exoskeletons come from a contrary approach, combining the flexibility and intelligence of human beings with the speed and power of robotic systems. Today, Wearable Robots and Assistance Suits provide more flexibility, however, in the future, considering advancements in robot control and artificial intelligence, autonomous humanoids, androids and inhuman service robots are likely to increase in flexibility and the ability to adapt to various unstructured tasks and environments.


### **HRP-1S**


HRP-1S: Prof. Thomas Bock


Application in Construction: Control of existing standard construction machinery by teleoperated humanoids (Figure 13). Humanoid Robots (as e.g. HRP-2) can assist workers in construction environments by carrying and installing building parts and building modules (Figure 01).

Copyright T. Bock

134 The Future of Humanoid Robots – Research and Applications

real world applications are still rare. Exoskeletons come from a contrary approach, combining the flexibility and intelligence of human beings with the speed and power of robotic systems. Today, Wearable Robots and Assistance Suits provide more flexibility, however, in the future, considering advancements in robot control and artificial intelligence, autonomous humanoids, androids and inhuman service robots are likely to increase in

HRP-2: Prof. Thomas Bock

HRP-1S: Prof. Thomas Bock

flexibility and the ability to adapt to various unstructured tasks and environments.

**HRP-2 Promet** 

**HRP-1S** 

**Developer** Kawada Industries

**Weight** 58 kg (including batteries)

**Drive System** 48V 20A(lmax), 2axes/driver x

**Power Supply** NiMH Battery DC 48V, 18Ah **Sensor** Joint: Incremental Encoder

Camera

**Weight** 99 kg (excluding batteries)

**Drive System** Brushless DC servo motor

**Sensor** Body: Inclination Sensor

sensors)

(Gyro-scopes and G-force

Foot and wrist: F/T Sensor Head: 2 Video Cameras

Visual Input: Trinocular Stereo

Body: 3-axis Vibrating Structure Gyro, 3DOF Acceleration Sensor Arm: 6-axis F/T Sensor Leg: 6-axis F/T Sensor

16

**Height** 1540 mm **Width** 620 mm

**Walking speed** 0~2 km/h **Holding Force** 2kgf (one hand)

**Total DOF** 30 DOF

**Developer** Honda **Height** 1600 mm **Width** 600 mm

**Walking speed** 0 ~ 6 km/h **Total DOF** 30 DOF

**Power Supply** Ni-Zn Battery

Fig. 13. Left: HARP Humanoid Robot driving forklift delivering construction material. Right: Honda's Asimo controlling an excavator.
