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This paper describes the hardware, software framework, and experimentaltesting of SURENA IV humanoid robotics platform. SURENA IV has 43 degrees offreedom (DoFs), including seven DoFs for each arm, six DoFs for each hand, andsix DoFs for each leg, with a height of 170 cm and a mass of 68 kg andmorphological and mass properties similar to an average adult human. SURENA IVaims to realize a cost-effective and anthropomorphic humanoid robot forreal-world scenarios. In this way, we demonstrate a locomotion framework basedon a novel and inexpensive predictive foot sensor that enables walking with 7cmfoot position error because of accumulative error of links and connections'deflection(that has been manufactured by the tools which are available in theUniversities). Thanks to this sensor, the robot can walk on unknown obstacleswithout any force feedback, by online adaptation of foot height andorientation. Moreover, the arm and hand of the robot have been designed tograsp the objects with different stiffness and geometries that enable the robotto do drilling, visual servoing of a moving object, and writing his name on thewhite-board.

SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios