IEEE Robotics & Automation Magazine - December 2019 - 49

which provides 90 min of operating time. One of the major
features of the robot is its thickness, being just 250 mm at its
thickest point.
The robot has a total of 33 degrees of freedom (DoF), as
shown in Figure 2. At the base of the torso, a high-torque
pitch joint with a wide range of motion enables transitioning
between biped and quadruped walking. A yaw joint enables
the upper body to rotate 180°. This joint, in particular,
enables switching from knee configuration [Figure 2(c)] to
reverse knee configuration [Figure 2(d)]. Reverse knee configuration is useful in preventing collisions between the
robot's shins and stairs.
Sensors Mounted on E2-DR
Sensors are installed on the head by considering the fields
of view in biped and quadruped walking, as shown
in Figure  3(a). Two laser range finders (LRFs), Hokuyo
UTM-30LX-EW, are located at the same positions as a
human's ears. By rotating them along the yaw axis, the
robot can obtain 360° point cloud data, as shown in Figure 3(b). Point cloud data are not affected during a

Torque
Sensor

blackout, so the operation of the robot is mainly done
with point cloud data from LRFs. The robot also has a
monocular camera [indicated in Figure 3(c)] to show
images to the operator. It is equipped with a synchronized
electronic flash employing LED for use during blackouts.
Images are used only in limited applications, such as reading equipment meters. Therefore, the robot has only a single DoF for the head due to the LRFs' 360° capabilities.
Additionally, the robot has an infrared-light-projected stereo system and a time-of-flight camera on its head for
real-time walking on uneven floors.

Table 2. The specifications of the torque sensors.
Hip Roll

Knee Pitch

Upper Arm Twist

Peak torque
(Nm)

180

280

95

Stiffness
(Nm/rad)

29,000

57,000

29,000

Input

88 mm

88 mm

Harmonic
Drive Gear

102 mm

Output

Motor
Bearing

78 mm
(b)

53 mm
(a)

(d)

78 mm
(c)

(e)

Figure 4. The mechanical layout of the proposed actuators: the (a) hip roll, (b) knee pitch, and (c) upper arm twist. (d) The shape of
the torque sensor of the knee pitch joint. (e) The shape of the torque sensor of the hip roll and upper arm twist joints.

DECEMBER 2019

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

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49



IEEE Robotics & Automation Magazine - December 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2019

Contents
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