specificationsSURENA III
walking on flat terrainsSpeed: 0.7 km/h, 10 step
walking on sloped terrains and stair setswalking up and down on stairs (5 cm heights) and slopes (10 degrees)
TurningTurning on spot and with all requested radiuses
Moving backwardSpeed: 0.4 km/h
Moving on uneven surfacesStable on uneven surfaces with different height
visionFace detection, object detection and recognition, body skeleton detection and imitation
auditionspeech recognition (predefined word and sentences)
speakingutilize unlimited words and sentences in smart scenarios
user softwareSDK ( Standard Developing Kit ) designed to create and edit different scenarios, GUI (Graphical User Interface) special for system controlling, Observing sensors' output, testing actuators and algorithms
Object ManipulationAble to manipulate objects up to 6.5 mm in diameter and weight up to 200g
Exhibitive ManeuversShooting a ball with different diameters and performing some exhibitive actions
Mechanical Design & Control

The humanoid robot SURENA III is composed of 12 DOF in its lower-body and 19 DOF in its upper-body. This robot has 6 DOF in each leg, 7 DOF in each arm, 1 DOF in each hand (a simple gripper), one DOF in torso and 2 DOF in neck. The sensory layout includes incremental and absolute encoders mounted on the motor output and gearbox output, six axes force/torque sensors embedded to the ankles, an IMU mounted on the upper-body, and contact switches embedded to each sole.

Design of the legs of a humanoid robot is certainly the most challenging part in the design procedure. The 6 DOF leg structure allows the foot to have dexterous motion with respect to the pelvis. The lower-body joints are actuated by EC motors and a combined timing belt-pulley and harmonic drive module is exploited for power transmission. Rigid and light-weight structure may greatly enhance performance of a position controlled walking machine. In order to alleviate the vibration of the joints which may be existed due to flexibility of harmonic drive or the cross modules (in ankle and hip), by employing high resolution absolute encoders at the joints output, the cascade position control loop has been exploited which decreased the vibration of the joints. In order to increase rigidity of the links, while keeping the robot’s weight low as much as possible, aluminum plates have been used for the shanks and thighs.

The upper body joints of SURENA III are driven by servomotor packages which include motor, gearbox and driver. One DOF in waist enlarges the workspace of the arms for gripping and whole body motions. Two DOFs in neck give the head capability of having pan and tilt motions. Furthermore, inspired from human beings, each arm of the robot has 7 DOF (three in shoulder, 1 in elbow, 3 in wrist), in which the actuators have been connected via fiberglass plates to reduce the weight. This redundant structure gives the robot arms capability of dexterous manipulation. Finally, a mechanism has been employed in hands to enable it to grip the objects. Using this mechanism, all 5 fingers of each hand may move simultaneously, and realize the gripping.

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Artificial Intelligence & Electronics
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SURENA III has a specific software and electronic structure that is responsible for high and low level control of the robot. This sophisticated structure reads the sensory inputs, recognizes the objects and detects human face/motion, distinguishes the Persian commands, decides about robot’s actions and performs the requested tasks. SURENA III is an intelligent robot which can find its path by the surrounding signs. It can recognize human upper and lower limb configurations and imitate human actions. SURENA III has ability to detect human faces, count the number of people in its frontal view and localize them. SURENA’s capability to understand and speak unlimited Persian language words or sentences is another outstanding subject about this robot. SURENA III voice detection is speaker independent and any new word can be taught easily to the robot by just typing the word in its software kit. SURENA III has an amazing graphical user interface that facilitates robot’s programming and error tracking. Moreover, each scenario and maneuver can be tested through robot’s SDK which enables users to work with all programmed libraries, conveniently.

Several electrical circuits have been designed for the SURENA III. Driving and synchronizing the actuators, reading sensors and supplying continues and safe power for robot are the tasks of electrical boards that have been completely designed and fabricated in CAST.

'designed by jadooweb