KIMLAB (Kinetic Intelligent Machine LAB) | Large-scale Biped Robot Using Hybrid Leg Mechanism @KIMLAB2020 | Uploaded May 2022 | Updated October 2024, 2 hours ago.
Implementation of a Large-scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism
By Kevin G Gim and Joohyung Kim
This paper presents our implementation of a large-scale biped robot utilizing Hybrid Leg, a 6 DoF serial-parallel mechanism, having lightweight structure, high payload and large workspace. We set our design goal to make a biped robot taller than an average human height. By applying the Hybrid mechanism and design optimization, the robot was built with a height of 1.84m and a weight of 29.05kg. The implemented robot is able to be actuated by the servo motors used in the smaller humanoid robot. The mechanical design of the robot is explained in detail and kinematics analysis is conducted for analytical solutions. Through multi-body dynamics simulations, the proposed robot design and its performance are verified. In addition, the preliminary performance evaluations for the robot hardware are conducted for a squat experiment and in-place walking experiment.
Implementation of a Large-scale Biped Robot Using Serial-Parallel Hybrid Leg Mechanism
By Kevin G Gim and Joohyung Kim
This paper presents our implementation of a large-scale biped robot utilizing Hybrid Leg, a 6 DoF serial-parallel mechanism, having lightweight structure, high payload and large workspace. We set our design goal to make a biped robot taller than an average human height. By applying the Hybrid mechanism and design optimization, the robot was built with a height of 1.84m and a weight of 29.05kg. The implemented robot is able to be actuated by the servo motors used in the smaller humanoid robot. The mechanical design of the robot is explained in detail and kinematics analysis is conducted for analytical solutions. Through multi-body dynamics simulations, the proposed robot design and its performance are verified. In addition, the preliminary performance evaluations for the robot hardware are conducted for a squat experiment and in-place walking experiment.
![[2023 Weekly KIMLAB] Demo Expo @IROS2023](https://i.ytimg.com/vi/7wsVvqkqAPY/hqdefault.jpg "[2023 Weekly KIMLAB] Demo Expo @IROS2023
As always, performing a live robot demo is no small feat, but KIMLAB members embraced the challenge! MOMO (Mobile Object Manipulation Operator) stole the Demo Expo @IROS2023 by charming everyone as it handed out candies and swept the floor with a broom. We also unveiled our armor-controlled robotic backpack. This weeks video features the demos KIMLAB presented at the IROS 2023.")
![[2023 Weekly KIMLAB] MOMOs Jack-O-Lantern](https://i.ytimg.com/vi/A4W6SqH5_Ew/hqdefault.jpg "[2023 Weekly KIMLAB] MOMOs Jack-O-Lantern
At KIMLAB, we have a unique way of carving Halloween pumpkins!
Our MOMO (Mobile Object Manipulation Operator) is equipped with PAPRAS arms featuring prosthetic hands, allowing it to use human tools.
If youre interested in joining us for exciting robotics research, explore the graduate school programs at UIUC in the following links.
https://ece.illinois.edu/admissions/graduate")
![[CWBB2022] FRIDA: Framework and Robotics Initiative for Developing Arts](https://i.ytimg.com/vi/ATPHmpt4JQs/hqdefault.jpg "[CWBB2022] FRIDA: Framework and Robotics Initiative for Developing Arts
FRIDA: Framework and Robotics Initiative for Developing Arts")
![[KIMLAB x PSYONIC] PAPRAS:Orthrus playing Captain America](https://i.ytimg.com/vi/B1FqiZuX_uc/hqdefault.jpg "[KIMLAB x PSYONIC] PAPRAS:Orthrus playing Captain America
[KIMLAB x PSYONIC] PAPRAS:Orthrus playing Captain America")
![[CWBB2022] Build a Punyo Gripper](https://i.ytimg.com/vi/D6K7vQilUHw/hqdefault.jpg "[CWBB2022] Build a Punyo Gripper
Title: Build a Punyo Gripper
Speaker: Alex Alspach, TRI
Abstract:
Toyota Research Institute (TRI) is excited to release the build instructions and design files for our Punyo Bubble Gripper so that our friends and colleagues can test our technology, improve upon it, and take us closer to building robotic assistants for the home!
https://punyo.tech
Want to work with us? We are developing a demonstration kit to share with partners. If youd like to receive updates, please let us know at https://punyo.tech/survey.
Question or comments? Feel free to message us at punyo-info@tri.global
The Punyo project information is distributed using the Creative Commons Attribution-NonCommercial 4.0 International license.")
![[2023 Weekly KIMLAB] MOMOs Tree Topping Travel](https://i.ytimg.com/vi/FENfp1-bct8/hqdefault.jpg "[2023 Weekly KIMLAB] MOMOs Tree Topping Travel
Embark on MOMO(Mobile Object Manipulation Operator)s thrilling quest to ignite joy and excitement! Watch as MOMO skillfully places the tree topper, ensuring that every KIMLAB members holiday season is filled with happiness and brightness. Happy Holidays! 🎄🌟
-MOMO
https://youtu.be/OvcFSEICq9w?feature=shared")
![[2023 Weekly KIMLAB] Specifying Target Objects in Teleoperation Using Speech and Natural Eye Gaze](https://i.ytimg.com/vi/FWkA-QXKoic/hqdefault.jpg "[2023 Weekly KIMLAB] Specifying Target Objects in Teleoperation Using Speech and Natural Eye Gaze
In this study, we propose a new intent detection framework to teleoperate robotic arms based on human speech and natural eye gaze. Our framework applies instance segmentation on the robots camera image and predicts the humans intended object through matching eye-gaze data, instance masks, instance classes, and transcribed words.
***This work will be presented at the IEEE-RAS Humanoids 2023 in Austin.
https://2023.ieee-humanoids.org/
Yu-Chen (Johnny) Chang, Nitish Gandi, Kazuki Shin, Ye-Ji Mun, Katherine Driggs-Campbell, Joohyung Kim, ”Specifying Target Objects in Robot Teleoperation Using Speech and Natural Eye Gaze,” IEEE-RAS International Conference on Humanoid Robots, December 2023")
