KIMLAB (Kinetic Intelligent Machine LAB) | Low-cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-rich Human-Robot Collaboration @KIMLAB2020 | Uploaded March 2024 | Updated October 2024, 2 hours ago.
Disney's Baymax frequently takes the spotlight in many research presentations dedicated to soft and secure physical human-robot interaction (pHRI). KIMLAB's recent paper in TRO showcases a step towards realizing the Baymax concept by enveloping the skeletons of PAPRAS (Plug And Play Robotic Arm System) with soft skins and utilizing them for sensory functions.
This video shows the step-by-step process of attaching our low-cost, easy-to-build soft robotic skins to the PAPRAS. Following that, we demonstrate the physical interaction between the robotic arm, now equipped with the skin, and a human user, which may involve pushing or tapping. We highlight a safety feature designed to automatically halt operation if the human arm becomes caught in the motion of the robot arm's elbow joint.
Toyota Research Institute (TRI) provided funds to support this work as a part of the "Superhuman Multimodal Sensing for Manipulation" project.
Thank you for watching! For detailed technical insights, feel free to access our paper through the following link, as it is an open-access publication.
- Paper
K. Park, K. Shin, S. Yamsani, K. Gim and J. Kim, "Low-cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-rich Human-Robot Collaboration," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2024.3378174
ieeexplore.ieee.org/document/10473193
- PAPRAS (Plug And Play Robotic Arm System)
Preprint: arxiv.org/abs/2302.09655
Video: youtu.be/2-63T04-Axk
Disney's Baymax frequently takes the spotlight in many research presentations dedicated to soft and secure physical human-robot interaction (pHRI). KIMLAB's recent paper in TRO showcases a step towards realizing the Baymax concept by enveloping the skeletons of PAPRAS (Plug And Play Robotic Arm System) with soft skins and utilizing them for sensory functions.
This video shows the step-by-step process of attaching our low-cost, easy-to-build soft robotic skins to the PAPRAS. Following that, we demonstrate the physical interaction between the robotic arm, now equipped with the skin, and a human user, which may involve pushing or tapping. We highlight a safety feature designed to automatically halt operation if the human arm becomes caught in the motion of the robot arm's elbow joint.
Toyota Research Institute (TRI) provided funds to support this work as a part of the "Superhuman Multimodal Sensing for Manipulation" project.
Thank you for watching! For detailed technical insights, feel free to access our paper through the following link, as it is an open-access publication.
- Paper
K. Park, K. Shin, S. Yamsani, K. Gim and J. Kim, "Low-cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-rich Human-Robot Collaboration," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2024.3378174
ieeexplore.ieee.org/document/10473193
- PAPRAS (Plug And Play Robotic Arm System)
Preprint: arxiv.org/abs/2302.09655
Video: youtu.be/2-63T04-Axk
![[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")
![[2023 Weekly KIMLAB] Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay](https://i.ytimg.com/vi/GsLxrXSdOqA/hqdefault.jpg "[2023 Weekly KIMLAB] Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay
As the field of human-robot collaboration continues to grow and autonomous general-purpose service robots become more prevalent, robots need to obtain situational awareness and handle tasks with a limited field of view and workspace. Addressing these challenges, KIMLAB and Prof. Yong Jae Lee at the University of Wisconsin-Madison utilize the game of chess as a testbed, employing a general-purpose robotic arm.
To achieve successful robotic manipulation in playing board games like chess, the robot must follow game rules and prioritize human safety, all while operating in a limited workspace with field-of-view constraints. A pipeline is proposed that considers the rules of the chess game, the constraints of the robot, and environmental conditions to generate valid moves and countermoves. To validate the algorithm, experiments were conducted with the robotic platform, and the parameters of the system were tuned. The proposed algorithm achieved competitive performance, with an average robot turn success rate of 91.94%. This research demonstrates the potential of a general-purpose robot with a single camera to engage safely in competitive tasks with humans, even with these constraints.
***This work will be presented at the IEEE-RAS Humanoids 2023 in Austin.
https://2023.ieee-humanoids.org/
Kazuki Shin, Sankalp Yamsani, Roman Mineyev, Hongyu Chen, Nitish Gandi, Yong Jae Lee, Joohyung Kim, ”Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay,” IEEE-RAS International Conference on Humanoid Robots, December 2023")
