Development of a high-performance upper-body humanoid system

Akihiko Nagakubo, Yasuo Kuniyoshi, Gordon Cheng

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


This paper presents the hardware of the upper body of the ETL-Humanoid system. It has 24 degrees of freedom with high performance actuators, which gives the system high mobility, such as is required for push-ups, lifting itself or another person. The mechanical design is able to achieve human proportion, with smooth outer shape, and is light weight at a very high level, considering the high motor performance embedded inside. Custom compact electronics for AC servo control and fast embedded network for control and measurement was also developed. The system is still evolving, being used as a working testbed for versatile human interaction experiments.

Original languageEnglish
Pages (from-to)1577-1583
Number of pages7
JournalIEEE International Conference on Intelligent Robots and Systems
StatePublished - 2000
Externally publishedYes


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