55-8100-23_Humanoid_Robot_Specs_SysOne.docx

CIP: "Humanoid Robots for Interaction" – System One

A humanoid robot to advance research in human-robot teaming and interaction in environments where wheeled locomotion is impractical or human-sized working/reaching envelopes are needed. The robot is to provide basic functionality out of the box, allowing high-level application and research area code development without having to re-implement mid-level robot functions (e.g., motion, navigation, mapping, collision avoidance). Arms and grippers are necessary to demonstrate performance of activities in the application domains, such performance serving to illustrate the benefit of underlying user research. The robot must have integrated sensors for sensing dynamic environments and a software SDK/API to allow user access to the factory software and sensor data, to implement mid-level level capabilities, and for development of high-level research application software.

Quantity: 2

Basic Features:

· Bipedal, two-armed, humanoid robot

· Working envelope matching human-tailored environments (ability to reach from floor to 1.5m)

· Must be able to stand and walk on irregular, uneven, or sloped (up to 20 degrees) surfaces

· Must be able to react to unexpected external forces (being "pushed" or "knocked") to maintain balance

· Must be able to step onto or over typical height stair steps or curbs

· Able to traverse 9” high steps, or over step over 9" high obstacles (desired, not required)

· Automatic foot placement and balancing for standing, walking and stairs ascent/descent with only high-level user control

· Must provide kinematic odometry assisted by inertial measurement unit

Physical:

· Weight in operating order: not to exceed 65 kg

· Top walking speed of at least 1.5m/s, minimum speed 0.0m/s

· Arms with 6-DOF (degree of freedom) plus additional gripper "grasp" DOF

· Minimum arm extension of 0.75m from base joint

· Payload minimum at extension (arm) - 5kg payload

· Mounting points for attaching user-supplied hardware to body

· Onboard power and data connections available for user-supplied hardware (desired, not required)

· Payload minimum (body mounted) - 2.5kg

· Ingress protection of IP54 or better

· Impact resistant body panels to minimize risk of damage to robot from collisions/falls

Sensing:

· Minimum object detection sensing range/resolution/field-of-view:

· Any laser sensors must be Class 1 eye-safe per IEC/EN 60825-1:2014

· Onboard color video (minimum resolution of 480p and 10 Hz)

Power:

· Battery powered, tether-free operation

· Operating time of at least 60 minutes on a single battery charge

· Spare battery

· Ability to simultaneously charge a battery installed in the robot, and a battery independent of the robot

· Ability to autonomously move and connect to a charging station (desired, not required)

Networking/Computing:

· Wireless networking (IEEE 802.11ac, 5Ghz) to support off-robot monitoring, control, and data collection, via an SDK/API detailed below or any other interface

· Must be able to operate normally both connected to and disconnected from the internet

· Multiple instances of the robot must be able to operate simultaneously without network or other resource conflicts/contention

· Spare or additional Linux-based, Nvidia GPU computing capacity to support running user applications onboard the robot

Controls/Software:

· Must provide mid-level capabilities including localization/mapping/navigation/collision avoidance, with SDK/API hooks for user software

· Must support teleoperation

· Must support autonomous operation (by user application) via a supplied software development kit (SDK) or application programming interface (API). The SDK/API should allow user programs to retrieve sensor and state data, and issue any/all provided joint/motion control or behavioral (e.g. navigate to goal, pick up object, create/manipulate environment map) commands in response to a sensed, dynamic environment. Pre-recorded motions/playback are not sufficient to meet this requirement.

· Arm control integrated with body control

· Arm controls to position the arm by individual joint position

· Arm controls to directly position the end effector/gripper (position and orientation) relative to the robot's body

· Arm controls to directly position the end effector/gripper (position and orientation) relative to the environment (desired, not required)

· Automatic balancing compensation for arm motion or arm-carried payload

· SDK/API interfaces for user software to utilize all arm/gripper control software

· Include a Robotics Operating System (ROS) node or nodes for control and data export for use with 3rd party ROS software stacks (desired, not required)

Support:

· Minimum 1 year warranty coverage

· Documentation for all software and hardware, particularly for software SDK/APIs and interfaces for user supplied hardware

· Documentation for setup, configuration, and operation

· Minimum 1 year technical support for updates and bug resolution, with option to buy additional support