RAIPAL: A Powerful and Agile Humanoid Arm for Human Tasks
Overview
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.
Generated from attributed reports · Updated 2 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · peak payload: 20 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · endpoint speed: 20.6 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · mass ratio: 2.25 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · payload capacity relative to mass: 2.25 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalRAIPAL: 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.
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