HERMES Humanoid Robot

HERMES is a humanoid robot designed for power manipulation and whole-body teleoperation. Here are some design details. An interesting mechanism is the shoulder/hip joint. It is a quasi-spherical 3DoF design with a remote center of rotation.

Sinusoidal positon tracking test:

A detailed view of the rendered CAD and the actual assembly of the hip design.

The ankle joint is a 2DoF gimbal joint:

 

Here are some random pictures and videos of the HERMES robot: