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Torobo Humanoid Robot Hammers A Nail
Torobo is an interesting humanoid robot from Tokyo Robotics. In the following video, Torobot hammers a nail.
(Torobo from TokyoRobotics)
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...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.
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.
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.
In his 1985 movie Runaway, author Michael Crichton imagined that robots would appear on construction sites.
(Construction robots from Runaway)
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