KIMLAB (Kinetic Intelligent Machine LAB) | [CWBB2022] Toward Open-Sourcing of Large-area, Multimodal Sensing for Humanoid with Soft Skin @KIMLAB2020 | Uploaded December 2022 | Updated October 2024, 1 hour ago.
Title: Toward Open-Sourcing of Large-area, Multimodal Sensing for Humanoid with Soft Skin
Speaker: Van A. Ho, JAIST
Abstract:
Human possesses skin as largest soft organ that helps assess the surroundings through physical interactions. Therefore, in order to build a Baymax-like humanoid robot that is fully aware of social and task-oriented interaction, it is considered important for equipping the whole body of the robot with multimodal sensing skin. In this talk, I will introduce our newest development of soft skin with vision-based multimodal sensing, including tactile and proximity, and potential application in building humanoid robots. I will also indicate our attempt in open-sourcing, both software and hardware, the developed skin system so that it could be utilized widely, both in development of humanoid robot and education of soft sensing techniques.
Speaker Bio:
Van A. Ho received the Ph.D. degree in robotics from Ritsumeikan Unviersity, Kyoto, Japan, in 2012. From 2017, he joined the Japan Advanced Institute of Science and Technology (JAIST) for setting up a laboratory on soft robotics. His current research interests are soft robotics, soft haptic interaction, tactile sensing, grasping and manipulation, bio-inspired robots. He was recipient of the prestigious Japan Society for the Promotion of Science (JSPS) Research Fellowship for Young Scientist. Ho was the recipient of 2019 IEEE Nagoya Chapter Young Researcher Award, Best Paper Finalists at IEEE SII (2016) and IEEE RoboSoft (2020). He is member of The Robotics Society of Japan (RSJ), and Senior Member of the IEEE. He is serving as Associate Editor for many international conferences, such as IROS, SII, RoboSoft; as well as for journals such as IEEE Transactions for Robotics (T-RO), IEEE Robotics and Automation Letters (RA-L), and Advanced Robotics. He is General Co-Chair of 2023 IEEE/SICE International Symposium on System Integration (SII).
Title: Toward Open-Sourcing of Large-area, Multimodal Sensing for Humanoid with Soft Skin
Speaker: Van A. Ho, JAIST
Abstract:
Human possesses skin as largest soft organ that helps assess the surroundings through physical interactions. Therefore, in order to build a Baymax-like humanoid robot that is fully aware of social and task-oriented interaction, it is considered important for equipping the whole body of the robot with multimodal sensing skin. In this talk, I will introduce our newest development of soft skin with vision-based multimodal sensing, including tactile and proximity, and potential application in building humanoid robots. I will also indicate our attempt in open-sourcing, both software and hardware, the developed skin system so that it could be utilized widely, both in development of humanoid robot and education of soft sensing techniques.
Speaker Bio:
Van A. Ho received the Ph.D. degree in robotics from Ritsumeikan Unviersity, Kyoto, Japan, in 2012. From 2017, he joined the Japan Advanced Institute of Science and Technology (JAIST) for setting up a laboratory on soft robotics. His current research interests are soft robotics, soft haptic interaction, tactile sensing, grasping and manipulation, bio-inspired robots. He was recipient of the prestigious Japan Society for the Promotion of Science (JSPS) Research Fellowship for Young Scientist. Ho was the recipient of 2019 IEEE Nagoya Chapter Young Researcher Award, Best Paper Finalists at IEEE SII (2016) and IEEE RoboSoft (2020). He is member of The Robotics Society of Japan (RSJ), and Senior Member of the IEEE. He is serving as Associate Editor for many international conferences, such as IROS, SII, RoboSoft; as well as for journals such as IEEE Transactions for Robotics (T-RO), IEEE Robotics and Automation Letters (RA-L), and Advanced Robotics. He is General Co-Chair of 2023 IEEE/SICE International Symposium on System Integration (SII).
![[CWBB2022] Toward Open-Sourcing of Large-area, Multimodal Sensing for Humanoid with Soft Skin](https://i.ytimg.com/vi/aJx_6p63Brw/hqdefault.jpg "[CWBB2022] Toward Open-Sourcing of Large-area, Multimodal Sensing for Humanoid with Soft Skin
Title: Toward Open-Sourcing of Large-area, Multimodal Sensing for Humanoid with Soft Skin
Speaker: Van A. Ho, JAIST
Abstract:
Human possesses skin as largest soft organ that helps assess the surroundings through physical interactions. Therefore, in order to build a Baymax-like humanoid robot that is fully aware of social and task-oriented interaction, it is considered important for equipping the whole body of the robot with multimodal sensing skin. In this talk, I will introduce our newest development of soft skin with vision-based multimodal sensing, including tactile and proximity, and potential application in building humanoid robots. I will also indicate our attempt in open-sourcing, both software and hardware, the developed skin system so that it could be utilized widely, both in development of humanoid robot and education of soft sensing techniques.
Speaker Bio:
Van A. Ho received the Ph.D. degree in robotics from Ritsumeikan Unviersity, Kyoto, Japan, in 2012. From 2017, he joined the Japan Advanced Institute of Science and Technology (JAIST) for setting up a laboratory on soft robotics. His current research interests are soft robotics, soft haptic interaction, tactile sensing, grasping and manipulation, bio-inspired robots. He was recipient of the prestigious Japan Society for the Promotion of Science (JSPS) Research Fellowship for Young Scientist. Ho was the recipient of 2019 IEEE Nagoya Chapter Young Researcher Award, Best Paper Finalists at IEEE SII (2016) and IEEE RoboSoft (2020). He is member of The Robotics Society of Japan (RSJ), and Senior Member of the IEEE. He is serving as Associate Editor for many international conferences, such as IROS, SII, RoboSoft; as well as for journals such as IEEE Transactions for Robotics (T-RO), IEEE Robotics and Automation Letters (RA-L), and Advanced Robotics. He is General Co-Chair of 2023 IEEE/SICE International Symposium on System Integration (SII).")
![[CWBB2022] Open source and motion generation for humanoids: feedback from the Gepettos team](https://i.ytimg.com/vi/cxImWc1ba3k/hqdefault.jpg "[CWBB2022] Open source and motion generation for humanoids: feedback from the Gepettos team
Title: Open source and motion generation for humanoids: feedback from the Gepettos team
Speaker: Olivier Stasse, Laboratory for Analysis and Architecture of Systems (LAAS-CNRS)")
![[CWBB2022] Reachy: open source interactive humanoid platform to explore real world applications](https://i.ytimg.com/vi/eMvnPEZD0ME/hqdefault.jpg "[CWBB2022] Reachy: open source interactive humanoid platform to explore real world applications
Title: Reachy: open source interactive humanoid platform to explore real world applications
Speaker: Matthieu Lapeyre, Pollen Robotics
Abstract:
In this talk, we will give a complete overview of the Reachy robot, an interactive robot made to explore real world applications. We will discuss why we have started to work on it, what is it now and where we are going.
Speaker Bio:
Matthieu Lapeyre is a former researcher in humanoid robotics at INRIA Flowers (France). From 2012 to 2016, he was author and project leader of Poppy an open source 3D printed robot and Pypot an open source python library for robot control. He co-funded Pollen Robotics in 2016 to develop technologies for real world robotic manipulation and HRI. He has designed Reachy an open source interactive robot and has built a world-class robotic team (15 people). In 2022, the Pollen team reached the 2nd place at the Avatar Xprixe competition, with the Reachy 2.")
![[CWBB2022] Humanoids: Education and Outreach // Education and Open Source for Humanoid Robots](https://i.ytimg.com/vi/gWoIN0C0vN4/hqdefault.jpg "[CWBB2022] Humanoids: Education and Outreach // Education and Open Source for Humanoid Robots
Title: Humanoids: Education and Outreach // Education and Open Source for Humanoid Robots
Speaker: Chris Atkeson and Conrad Tucker (CMU)")
![[CWBB2022] Vision-based Tactile Sensor FingerVision: Open-Source Soft/Hardware and Commercialization](https://i.ytimg.com/vi/hAcgAtCX1oc/hqdefault.jpg "[CWBB2022] Vision-based Tactile Sensor FingerVision: Open-Source Soft/Hardware and Commercialization
Talk title: Vision-based Tactile Sensor FingerVision: Open-Source Soft/Hardware and Commercialization
Speaker: Akihiko Yamaguchi, Tohoku University
Abstract:
We are developing a vision-based tactile sensor FingerVision for robots including its application to robotic manipulation of various, especially deformable objects such as food items. Since 2017, we have open-sourced the technology in order to popularize the vision-based tactile sensing technology in the society. Some succeeding tactile sensors have been made by the other researchers, which would be a part of contributions of the open-source, but we also feel we should more accelerate. In this talk, I will share the experience obtained through this activity, and present the current attempt.
Speaker Bio:
Akihiko Yamaguchi received the BE degree from the Kyoto University, in 2006, and the ME and the PhD degrees from Nara Institute of Science and Technology (NAIST), Nara, Japan, in 2008 and 2011, respectively. After graduation, we worked in NAIST as an Assistant Professor (2011-2015), Robotics Institute of Carnegie Mellon University as a postdoctoral fellow (2014-2017), Graduate School of Information Sciences of Tohoku University as an Assistant Professor (2017-2022). Currently, he belongs to FingerVision Inc as CER and CTO (2021-) and Tohoku University as a lecturer (2022-).")
![[2023 Weekly KIMLAB] Introduction to Humanoid Robotics Class](https://i.ytimg.com/vi/rO76ji2_sfU/hqdefault.jpg "[2023 Weekly KIMLAB] Introduction to Humanoid Robotics Class
Since 2020, KIMLAB has dedicated efforts to craft an affordable humanoid robot tailored for educational needs, boasting vital features like a ROS-enabled processor and multi-modal sensory capabilities. By incorporating a commercially available product, we seamlessly integrated an SBC (Orange PI Lite 2), a camera, and an IMU to create a cost-effective humanoid robot, priced at less than $700 in total. The robot has served as the primary instructional resource in the Introduction to Humanoid Robotics course at UIUC, where students showcased remarkable final projects, presenting diverse adaptations of this robot.
- Upgrade Kit opensource
https://github.com/uiuckimlab/MINI_Upgrade_Kit
https://github.com/uiuckimlab/mini-ros-assn4
- Upgrade Kit Assembly Instruction
https://youtu.be/Su98xT55EOg")
![[2023 Weekly KIMLAB] Lip–Inspired Passive Jamming Gripper with Teeth Structure](https://i.ytimg.com/vi/udHdfz-2tNk/hqdefault.jpg "[2023 Weekly KIMLAB] Lip–Inspired Passive Jamming Gripper with Teeth Structure
Imagine dogs effortlessly managing a wide array of items, their versatile mouths allowing them to grasp and hold easily. Inspired by their natural abilities, we crafted a robotic gripper. Enhancing our passive-jamming lip and incorporating the ingenious structure of a dogs teeth, our gripper now possesses the dexterity and precision to handle objects in daily life.
Jooyoung Hong, Kazuki Shin, Dhruv Mathur, Sankalp Yamsani, Joohee Yim, Joohyung Kim, ”Lip–Inspired Passive Jamming Gripper with Teeth Structure,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2023), 2023")
