Transform Humanoid, Hardware Modules and Software & Developmental Systems

Abstract: Transformable humanoids are humanoids that can adapt to multiple environments and purposes by changing their body capabilities, such as body structure, joint functions, and actionable environment.

In this talk, the presenter presents the three fundamental principles of the transformable humanoid.

1) Underlying principles and construction methodologies of the hardware modules, 2) Software system facilitating motion generation based on its body functions embedded in CAD, 3) Semi-automatic developmental process of the software system.

1) To change body structure, joint performance, and ability to withstand the environment, we propose magnetic couplings to switch connections between components, components with transmission gears that can change joint function of max speed and torque or fixed and free joints, and cover which is detachable and enables robots to adapt to the underwater environment.

2) To use the information of variable body ability for motion generation and planning robot motions and transitions in body capabilities, the designer uses CAD to embed changing body capabilities into the robot model.

3) To introduce new components according to the desired tasks, the designer uses the semi-automatic developmental process based on its body functions embedded in CAD that can handle the body functions of each component.

An example of the integrated experiment involving movements in diverse environments will be presented, including body assembly, heavy object manipulation, and movement between land and water.