The Human Support Robot (HSR), also called Takeshi by the Bio-Robotics laboratory, is a semi-humanoid service robot designed and developed by the Toyota company, whose objective is to assist people with limited capacities or elderly people in their daily activities, whether at home or in an office. Its main purpose is to serve as an academic development platform for various algorithms and autonomous systems.
At the beginning of the HSR project in the Bio-Robotics laboratory, the Justina robot software was adapted for the Takeshi robot, with the aim of demonstrating the modularity of the system and the algorithms implemented in another development platform.
The main areas of development are the following:
Object detection with an RGB-D camera.
Object manipulation with a robotic arm with four degrees of freedom.
Autonomous navigation with obstacle avoidance in dynamic environments.
Natural language recognition, such as voice and gestures.
Takeshi is part of a software development agreement between UNAM and Toyota-Japan, thanks to the good results obtained in the global RoboCup competition in 2017 with the Justina robot. In the same way, Takeshi has great achievements participated in the RoboCup, he has obtained a second place in 2018 (Montreal, Canada) and a fourth place in 2019 (Sydney, Australia) in the RoboCup @ Home DSPL category.
Projects and Publications