Towards extreme mobility humanoid resupply robots

We will describe the high-level design goals of SupplyBot, which will be a high performance humanoid robot, with physical capabilities approaching that of a human. The robot will feature high range of motion joint designs, new compact hydraulic actuators, advanced materials, and utilize advanced manufacturing processes to achieve one of the highest range of motion of any humanoid robot to date, while also maintaining one of the highest power-to-weight ratios. We will discuss innovative joint designs, robust shell designs, and various subcomponents to reduce weight and improve strength of the robot. Finally, we will describe algorithms for autonomously crossing a variety of mobility challenges and operator interfaces for remotely operating the robot through complex environments.