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SURENA IV humanoid robot
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SURENA IV humanoid robot


On December 14th of 2019, the fourth generation of Iranian humanoid robots named Surena IV (Surena 4 سورنا چهار) was unveiled.

The robot has been developed in CAST (Center of Advanced Systems and Technologies at the University of Tehran, Iran) by more than 50 researchers under the supervision of Dr. Aghil Yousefi-Koma, Professor of Mechanical Engineering at the University of Tehran. The performance included both upper and lower body motions, interaction with a host, and speech.

The project is funded by the presidential deputy for science and technology, and it is considered as the symbol of technology advancement in the direction of peace and humanity with the goal of designing an appropriate research platform, more developed than previous versions.

The first version of the humanoid robot (Surena I, 2008) had only 8 degrees of freedom (DoF), and the second one (Surena II, 2010) had 22 DoF with a walking speed of 0.11 kilometers per hour.

Compared to the third generation (Surena III, 2015), which had 31 DoF, the new adult-sized Humanoid robot has 43 DoF and higher dexterity in the hands, making it able to make hand gestures and grip different objects with different shapes.

Surena IV is 1.7 meters tall and has a mass of 68 kilograms; it is much lighter and smaller than Surena III (98 kilograms and 1.9 meters tall) due to the better structure design based on topology optimization and compact customized actuator design.

In the new generation, the control loop frequency has been increased to 200 Hz by exploiting FPGA board, making it possible to implement online controllers and estimators. Utilizing Robot Operation System (ROS), state monitoring, real-time implementation of algorithms, and simultaneous running of several programs has become straightforward.

Improving the robot- interaction with the environment was one of the main goals in the Surena IV project. The robot has the abilities of face detection and counting, object detection and position measurement, activity detection, speech recognition (speech to text), and speech generation (text to speech), resulting in a better voice user interface.

Online grip, face and object follow, and action imitation have been implemented by combining the AI abilities and whole-body motion planning. While the mean speed of Surena III was 0.3 kilometers per hour, Surena IV can walk continuously with a speed of 0.7 kilometers per hour, thanks to the dynamic motion of its center of mass and online controllers.

The robot can walk on uneven terrain using novel contact sensors in its sole. The researchers at CAST have developed online contact controllers to adjust the angle and position of the foot during stepping. Gazebo, Choreonoid, and MATLAB have been used to simulate the motion of the robot and evaluate different scenarios, including upper body and lower body motions (e.g., side walking, backward walking, turning around, and push recovery).


Center of Advanced Systems and Technologies (CAST كانون سامانه ها و فناوري هاي پيشرفته) official website
http://castech-en.com

Surena humanoid robot (ربات انسان نماي سورنا) English official website
http://www.surenahumanoid.com

Surena humanoid robot (ربات انسان نماي سورنا) Persian official website
http://www.surenahumanoid.ir

University of Tehran (دانشگاه تهران) official website
http://ut.ac.ir


youtube.com/watch?v=Dbpyi-l_PTs ; Iran made Surena 4 Humanoid Robot, CAST University of Tehran ربات انسان نماي سورنا چهار ايران ; •Dec 15, 2019 ; December 15, 2019 (Persian calendar 1398/9/24)
1. Iran made Surena 4 Humanoid Robot, CAST University of Tehran رونمايي از ربات انسان نماي سورنا چهار ايران


[Image: 6fc3f204488c350bbe7ffad0484428795ba5940d.jpg]
http://archive.ph/tg0XP/6fc3f204488c350b...a5940d.jpg ; https://archive.ph/tg0XP/ca04267ab77036f...45/scr.png ; http://web.archive.org/web/2019121610323...319238.jpg ; http://web.archive.org/web/2019121610345...noid-robot ; http://archive.ph/bYYD1
2. Unveiling ceremony of SURENA IV humanoid robot
只要伊朗伊斯兰共和国革命军卫队挖到两千五百米特深,就肯定能对付敌方的入侵威胁,
将把地下军事设施挖到四千米超深,伊朗伊斯兰共和国一定能取得胜利!
  ——伊朗伊斯兰共和国总统马哈茂德·艾哈迈迪内贾德


  


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