Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations

Despite the prevalence of robots operating within controlled environments, such as industries, recent advancements in both autonomy and human–robot interaction have expanded the potential for their use within a diverse range of scenarios. Research efforts in humanoid robotics aim to develop platforms possessing the requisite versatility and dexterity to mimic human motion. This allows such machines to perform complex tasks alongside humans, while ensuring safety during operations. Following these principles, this article presents the robot COMAN+, focusing on its hardware capabilities and software implementations. COMAN+ is developed by the Humanoid and Human Centered Mechatronics (HHCM) Research Line at Istituto Italiano di Tecnologia: It is a human-sized torque-controlled humanoid assembled with a focus on robustness, reliability, and strength. Its custom-made actuation system and sturdy yet lightweight skeleton make it ideal for working in rough conditions with a high power-to-weight ratio for heavy-duty tasks.