Modularity in Humanoid Robot Design for Flexibility in System Structure and Application

摘要

In this work we present the modularity aspect in the development of neoDavid, a robust humanoid robot with dexterous manipulation skills. We highlight the benefits of modularity in humanoid robot design for flexible service robotic applications. Our modular approach to system development begins with the system architecture and extends through the mechatronics, connectivity, and control components to the higher-level software and applications that match the growing system architecture. We show how the modularity scales and how it was used to gradually expand the system from an arm and hand to a full humanoid upper body on wheels. The modularity allowed us to adapt our system to changing needs as our focus shifted from technology basics to skills and finally to applications in the human environment with human tools.