The Humanoid and Human Centred Mechatronics Research Line (IIT-HHCM) looks back on a long history of designing robot arms and legged robots such as COMAN and WALK-MAN (1.80 m humanoid). We are currently involved in several projects with the responsibility to develop and build full legged robot platforms within the Centauro (Centauro EU-Project) and COMAN+ (CogIMon EU-Projects). The robot platforms are based on TREE Actuators and TREE F/T Sensors.
The TREE Actuators feature a high torque and power density. The passive compliance renders them sturdy as well as capable of high fidelity torque sensing and control for safe physical interaction. Both features permit human-like soft but also harsh physical interaction of robotic systems with the environment. The actuators are modular and customizable. The existing actuator palette covers a broad power and torque range (see info sheet on www.treerobotics.eu). The actuator firmware for in-house use features hard real-time interfaces and voltage, current, torque, impedance and position control modes.
Potential applications are: robotic arms, collaborative robots in shared human-robot work cells or service robots in domestic environments, wearable robotic devices, rehabilitation systems, human robot interaction interfaces, master/slave teleoperation systems, haptics and perception devices, and industrial automation.
The TREE F/T Sensors display low noise, low time and thermal drifts.
They offer high linearity and hard real-time communication interfaces.
TREE F/T Sensors feature compact electronics exhibiting high integration flexibility and compatibility with different communication interfaces.
Furthermore, they ship with a complete development kit for Windows and Linux operating systems, which allow users to integrate them in their setups with minimum development effort.