This paper presents Team NEDO-JSK's approach to the development of novel humanoid platform for disaster response through participation to DARPA Robotics Challenge Finals. This development is a part of the project organized by New Energy and Industrial Technology Development Organization. Technology for this robot is based on the recent research of high-speed and high-torque motor driver with water-cooling system, RTM-ROS inter-operation for intelligent robotics, and generation of full-body fast dancing motion, due to the generic 10 year's research of HRP-2 as a platform humanoid robot. Development target is the robot support in a variety of unsafe human tasks teleoperated by humans in case of a disaster response, equipped with body structure capability for use of human devices and tools in human environment, performance for dynamic full-body actions covering human-sized speed and power, and basic function for intelligent and integrated robot platform system for performing various tasks independently. we also describes NEDO-JSK team's approach to design methodology for robot hardware and architecture of software system and user interface for DRC Finals as a test case of disaster response.
['Yohei Kakiuchi', 'Kunio Kojima', 'Eisoku Kuroiwa', 'Shintaro Noda', 'Masaki Murooka', 'Iori Kumagai', 'Ryohei Ueda', 'Fumihito Sugai', 'Shunichi Nozawa', 'Kei Okada', 'Masayuki Inaba']
Development of humanoid robot system for disaster response through team NEDO-JSK's approach to DARPA Robotics Challenge Finals