开源人形机器人AGILOped实现高性能与低成本的平衡。
AGILOped: Agile Open-Source Humanoid Robot for Research
- 采用市售高功率密度驱动器，组件标准化降低开发门槛。
- 重14.5公斤、高110厘米，单人无需吊架即可操作。
- 支持行走、跳跃等动作，适合科研机构快速部署测试。
随着学术界和产业界对人形机器人的兴趣激增，众多平台相继问世。尽管这些系统通过高度定制化实现了卓越性能，但多数仍为闭源或存在高昂的采购与维护成本。本文提出AGILOped——一款开源人形机器人，旨在弥合高性能与可及性之间的差距。该机器人采用市售可回溯驱动器，具备高功率密度，并使用标准电子元件。其身高110厘米，重量仅14.5公斤，可由单人无需吊架操作。实验验证了其在行走、跳跃、冲击缓冲及起身等任务中的可行性，证明其适用于科研场景。
原文摘要 · Abstract (English)
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high acquisition and maintenance costs, however. In this work, we present AGILOped - an open-source humanoid robot that closes the gap between high performance and accessibility. Our robot is driven by off-the-shelf backdrivable actuators with high power density and uses standard electronic components. With a height of 110 cm and weighing only 14.5 kg, AGILOped can be operated without a gantry by a single person. Experiments in walking, jumping, impact mitigation and getting-up demonstrate its viability for use in research.
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