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Thread: THOR, humanoid robot, Robotics & Mechanisms Laboratory (RoMeLa) at Virginia Tech, Blacksburg , Virginia, USA

  1. #1

    THOR, humanoid robot, Robotics & Mechanisms Laboratory (RoMeLa) at Virginia Tech, Blacksburg , Virginia, USA

    Developers and manufacturers:

    Robotics & Mechanisms Laboratory (RoMeLa)

    Robotis, Seoul, Korea

    JK Han

    Harris Corporation

  2. #2


    THOR: Tactical Hazardous Operations Robot

    Published on Jul 10, 2013

    THOR is an electromechanical, bi-pedal humanoid platform that has been designed to participate in the DARPA Robotics Challenge (Track A), which focuses on the development of robots for use by first responders in disaster response scenarios. At a high-level, the following four elements define the major accomplishments and features of the THOR platform:

    [Novel Leg and Actuation Design]
    The THOR platform uses a custom-built series elastic actuator that is extremely light weight (550 grams) and extremely powerful (peak force of 2000 N). These actuators are coupled with mechanical linkages which provide THOR's joints with nearly 100% mechanical advantage throughout a range of motion greater than that of a human.

    [Efficient Design, Power Efficient Actuators]
    The THOR platform is capable of over an hour of untethered operation under normal conditions. The efficiency of the linear actuators and the control system used to drive those actuators allows the THOR platform to use minimal amounts of power during locomotion while not diminishing the strength of the robot.

    [Intuitive Manipulation and Teleoperation Approach]
    The Human Machine Interface and Manipulation System have both been designed with first responders as the intended end user. The HMI uses a model predictive teleoperation approach so that even when bandwidth and connectivity to the robot degrades, operators can continue to use the platform. The manipulation control system builds off years of testing and experience with Harris's RedHawk Haptic Feedback device to create an interface which users will be able to pick up quickly and use effectively.

    [Spectrum of Autonomous Behaviors]
    THOR employs sliding autonomy to intelligently adapt to bandwidth and environmental constraints. THOR's user interface is designed to allow a finer degree of control over autonomy than is employed by traditional systems.


    THOR-MANG DEMONSTRATION AT ROBOTWORLD 2013

    Published on Nov 10, 2013

  3. #3


    Heart to Heart Ep2721 World's First Modular Humanoid Robot: Thor-Mang

    Published on Apr 16, 2014

    World's First Modular Humanoid Robot: Thor-Mang - DARPA Robotics Challenge Participant, JK Han (PhD)
    When the Fukushima nuclear disaster struck in 2011, remote-controlled robots were quickly sent in to inspect and clean the power plants. But they proved ineffective.
    Eventually, technicians risked their lives and went in themselves.
    Will robots ever be able to stand in for real people?
    The Fukushima disaster prompted the US Department of Defense to establish a competition through DARPA, the Defense Advanced Research Projects Agency.
    The DARPA Robotics Challenge invites competitors to develop robots that can help in disaster-relief operations.
    Robotics experts from around the world, including Japan, the US, Germany, and Korea are all trying to develop the robot than will save humanity.
    Dr. JK Han and his team came in 9th at the 2013 preliminaries. Dr. Han is the creator of the humanoid robot 'Thor Mang.'
    Roboticist Dr. JK Han dreams of a different kind of world. He takes us inside the world of humanoid robots.

  4. #4


    Meet THOR: DARPA Robotics Challenge

    Published on Aug 14, 2014

    THOR is a bipedal humanoid robot designed for competition in the DARPA Robotics Challenge. THOR is electromechanical, using series elastic linear actuators in the lower body and industrial grade servos for the upper body and manipulators.

  5. #5


    Thor-Mang, the new humanoid of Robotis

    Published on Jan 8, 2015

    This humanoid has been designed to rescue and perform searching tasks provided by its several cutting edge technologies, including Dynamixel PRO servos, coordinated dual-arm control, 3D environment perception and mapping, and an intuitive user interface for autonomous and semi-autonomous operation.

  6. #6


    Team THOR takes the 2015 DARPA challenge

    Published on Jun 9, 2015

    The DARPA Robotics Challenge brought 23 competing teams to the Pomona Fairplex where these mechanical first responders had to complete an obstacle course that was designed to simulate a disaster building. The fails and falls were spectacular, as were the successes. In the garages, a hybrid team from UCLA and Penn finessed software code and made repairs on its humanoid entry.
    Article "UCLA’s humanoid robot flexes its muscles at international competition"
    Professor Dennis Hong and a team of students competed with their humanoid robot to build a robot that can go places humans cannot

    by Judy Lin and Bill Kisliuk
    June 9, 2015

  7. #7


    Robots playing soccer at RoboCup 2015 is like watching toddlers learn to kick

    Published on Jul 22, 2015

    Perhaps in the not-too-distant future, the World Cup may be won by small, adorable robots — ones that have already embarked on a rigorous athletic training at this year's RoboCup 2015 competition held in Hefei, China.
    Article "THOR kicks to the top of robot soccer"
    UCLA/UPenn team takes top prize at 2015 RoboCup in China

    by Bill Kisliuk
    July 23, 2015

  8. #8


    Team SNU

    Published on Aug 5, 2015

  9. #9


    THORMANG3 - basic walking based on path planning

    Published on May 17, 2016

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