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About this paper
Donggeon Kim, Hyungho Chris Choi, Donghyuk Choi, Jeongsoo Park, Choongin Lee, Chan Park, Jemin Hwangbo
RAIPAL designs a seven-degree-of-freedom humanoid arm to balance lifting force and rapid motion across tasks. It combines a force-oriented upper arm, speed-oriented forearm, and elbow linkage whose leverage changes with posture. The 8.9 kg arm lifted 20 kg for 60 seconds and reached 20.6 m/s in separate demonstrations; modeled endurance covers most, not all, of the evaluated load range.
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