Image 1 - R1, an elegant and safe humanoid robot, is designed for the service and domestic robotics market with small footprint to move in cluttered office/home/mall environments.

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R1 robot

company logo for Istituto Italiano di Tecnologia Istituto Italiano di Tecnologia

Country: Italy

Summary

R1, an elegant and safe humanoid robot, is designed for the service and domestic robotics market with small footprint to move in cluttered office/home/mall environments.

Status: Prototype, In development

Operation: Autonomous

Robot Type / Domain: Research, Service, Domestic

Tasks: interacting with its surroundings, manipulating objects, navigate

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For a more comprehensive and up-to-date list of specs, please refer to: https://icub.iit.it/products/r1-robot

In the past few years, robotics witnessed an important transformation as an increasing number of companies started to provide service robots intended to work cooperatively with humans. The robots developed so far are either rather costly, or unsuitable for manipulation tasks. In designing “R1” we aimed at demonstrating the feasibility of an affordable service humanoid robot. The ballpark cost of R1 is in the range of a small “family car” and, possibly, when produced in large quantities, it will come with a significantly lower price tag. The problem of cost has been addressed from three directions: with the use of polymeric materials, lightweight design and by implementing novel actuation solutions.

R1 shared the software API of iCub. It is 1.3m tall. The torso is equipped with an extension mechanism that allows varying its height from a minimum of 1.15m to a maximum of 1.45m. R1 has an especially small footprint to move in cluttered office/home/mall environments. R1 is safe for interaction. R1 can be torque controlled (active torque control) via read outs from two 6-axial force-torque sensors and tactile pressure sensors in the hands and forearms. R1 has two eight degree of freedom (DoF) arms. The payload is 1.5kg in the fully stretched configuration. Hands have four-DoF and they are equipped with distributed pressure sensors, joint angle encoders and series elastic actuators to allow monitoring grip forces. The head is equipped with sensors for HRI including cameras and microphones, a loudspeaker and RGB LED matrix display.

Technical Specifications

Max. Size: 1.45H (mm)

Max. Size: 0.057H (in)

Max. Payload: 1.5 kg (per arm)

Max. Payload: 3.307 lbs (per arm)

Weight: 51 kg

Weight: 112.436 lbs

Max. Locomotion Speed: 0.6 m/s

Max. Locomotion Speed: 1.969 ft/s

Max. Slope: N/A

Battery Operated? N/A

Average Runtime: 3 hr(s)

Max. Runtime: N/A

Battery Recharge Time: N/A

Locomotion Type: Wheels/Tracks

DOFs per Arm: 8

DOFs per Leg: N/A

DOFs (total): N/A

IP Rating: N/A

Operating Temperature: N/A

Open-source? Yes

Price: N/A

Show more specs

Hands: Hands have four-DoF and they are equipped with distributed pressure sensors, joint angle encoders and series elastic actuators to allow monitoring grip forces.

Head: The robot has a two-DOF head that is equipped with sensors and devices for HRI.

Mobile robot base: The robot base is equipped with a Robopeak RPLidar laser sensor.

Sensors: The head is equipped with sensors for HRI including cameras and microphones, a loudspeaker and RGB LED matrix display.

Software: The robot is shipped with Open Source APIs for YARP, a lightweight middleware employed on the iCub platform. Interface to ROS is possible via dedicated protocols.

Controller & Computing: The robot has two Nano-ITX i7 computing units and a MYIR Xilinx based Z-turn board.

Battery: The robot is equipped with an on-board battery on its base. The robot has two power buses, at 24V and 12V respectively, plus an additional low voltage bus for the computing units.

Data Transmission / Communication: The robot is equipped with the EA-AC87 ASUS 5 GHz Wireless-AC 1800 access point

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