RAIPAL: A Powerful and Agile Humanoid Arm for Human Tasks
RAIPAL: A Powerful and Agile Humanoid Arm for Human Tasks
This paper presents RAIPAL, a humanoid manipulator hardware platform designed for human-level performance across diverse tasks ranging from heavy payloads to dynamic motions. Unlike conventional designs targeting uniform workspace capability, the approach derives force, speed, and endurance targets from published measurements of human upper-limb performance. The platform integrates force-oriented upper-arm components, speed-oriented forearm components, and a posture-dependent elbow mechanism driven by planetary actuators. Experimental results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under repeated hammering impacts. Thermal analysis confirms sustained operation capability exceeds the published human load-duration boundary across nearly the entire load spectrum.
The paper introduces RAIPAL, a humanoid arm designed with human upper-limb performance metrics to guide actuator and mechanism selection, achieving a validated peak payload of 20 kg and an endpoint speed of 20.6 m/s in experimental tests.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
peak payload
20
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results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under repeated hammering impacts. Thermal analysis further confirms that the robot's sustained operation capability exceeds the published human load--duration boundary across nearly the entire load spectrum. These findings show that hardware targets derived from hu
Open source S4endpoint speed
20.6
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results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under repeated hammering impacts. Thermal analysis further confirms that the robot's sustained operation capability exceeds the published human load--duration boundary across nearly the entire load spectrum. These findings show that hardware targets derived from hu
Open source S4mass ratio
2.25
View original evidence
results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under repeated hammering impacts. Thermal analysis further confirms that the robot's sustained operation capability exceeds the published human load--duration boundary across nearly the entire load spectrum. These findings show that hardware targets derived from hu
Open source S4payload capacity relative to mass
2.25
View original evidence
results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under repeated hammering impacts. Thermal analysis further confirms that the robot's sustained operation capability exceeds the published human load--duration boundary across nearly the entire load spectrum. These findings show that hardware targets derived from hu
Open source S4
- paper: not_reported
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Automatically extracted; no manual editorial approval recorded.
results validate broad task capability, demonstrating a peak payload of 20 kg (2.25x its own mass), an endpoint speed of 20.6 m/s, and continued operation under repeated hammering impacts. Thermal analysis further confirms that the robot's sustained operation capability exceeds the published human load--duration boundary across nearly the entire load spectrum. These findings show that hardware targets derived from hu
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org