KIMLAB (Kinetic Intelligent Machine LAB) | Snapbot V2: a Reconfigurable Legged Robot with a Camera for Self Configuration Recognition @KIMLAB2020 | Uploaded October 2020 | Updated October 2024, 2 hours ago.
We present a reconfigurable modular legged robot, Snapbot V2. The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation model and implemented on a physical robot as well. A visual detection is implemented with a camera module to recognize the robot’s configuration. By detecting the particular color of the parts at the leg module, the robot can recognize the number and location of the connected legs. Based on the recognized configuration, Snapbot V2 selects the proper locomotion style automatically.
We present a reconfigurable modular legged robot, Snapbot V2. The mechanical design of Snapbot V2 is enhanced for better dynamic performance and robust connection with modular legs. A motion generator for locomotion is developed to achieve various locomotion skills in one to six-leg configurations. The locomotion is tested on a multi-body dynamic simulation model and implemented on a physical robot as well. A visual detection is implemented with a camera module to recognize the robot’s configuration. By detecting the particular color of the parts at the leg module, the robot can recognize the number and location of the connected legs. Based on the recognized configuration, Snapbot V2 selects the proper locomotion style automatically.
![[2023 Weekly KIMLAB] Orthrus: A Dual-arm Quadrupedal Robot](https://i.ytimg.com/vi/Yn3IxwAzN6o/hqdefault.jpg "[2023 Weekly KIMLAB] Orthrus: A Dual-arm Quadrupedal Robot
Presented herewith is another PAPRAS (Plug-And-Play Robotic Arm System) add-on system engineered to augment the functionalities of the quadrupedal robot, Boston Dynamics Spot. The system adeptly integrates two PAPRAS units onto the Spot, drawing inspiration from the mythological creature Orthrus—a two-headed dog in Greek mythology. Orthrus exhibits compatibility with diverse grippers and incorporates our software stack designed to facilitate seamless communication between Spot and PAPRAS. Our demonstration showcased diverse scenarios, encompassing mobile manipulation, entertainment applications, and human interaction.
Sankalp Yamsani, Sean Taylor, Kazuki Shin, Jooyoung Hong, Dhruv Mathur, Kevin Gim, Joohyung Kim, “Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications,” IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), August 2023
Paper link: https://ieeexplore.ieee.org/document/10309339")
![[CWBB 2023] Can we build Baymax? Part VIII: Let’s talk about Safe, Commercially Viable Humanoids](https://i.ytimg.com/vi/ZjsJwamszWA/hqdefault.jpg "[CWBB 2023] Can we build Baymax? Part VIII: Let’s talk about Safe, Commercially Viable Humanoids
The 8th “Can we build Baymax (CWBB)?” workshop, at the Humanoids 2023 conference, will be held in Austin, Texas, on 12 Dec. 2023.
This year’s CWBB workshop will bring together researchers working on safe, commercially viable humanoid robots. In particular, we will draw attention to efforts towards the safe commercialization of humanoids including application domains, safety considerations for real-world deployment, and design considerations for manufacturing and production at scale.
The workshop is in-person only event. Please find more information: https://baymax.org/
*List of Speakers:
- 1X Technologies - Bernt Øivind Børnich (CEO and Co-founder)
- Agility Robotics - Jonathan Hurst (Co-Founder and Chief Robot Officer)
- Apptronik - Nick Paine (CTO)
- IHMC - Robert Griffin (Research Scientist, Technical Advisor of Boardwalk Robotics)
- Figure AI - Jerry Pratt (CTO)
- Fourier Intelligence - Zen Koh, Global (CEO)
- PAL Robotics - Francesco Ferro (CEO)
- Sanctuary AI - Jeremy Fishel (Principal Researcher)
- Toyotas Frontier Research Center - Taro Takahashi (Project Manager, Technical Adviser of TRI)
- Unitree - Tony Yang (North America Sales Director)
*Organizers
- Christopher Atkeson (Carnegie Mellon University, USA)
- Katsu Yamane (Bosch Research, USA)
- Joohyung Kim (University of Illinois Urbana-Champaign, USA)
- Jinoh Lee (German Aerospace Center, Germany)
- Alexander Alspach (Toyota Research Institute, USA)")
![[CWBB2022] NimbRo-OP2(X): RoboCup AdultSize-winning Open-source Humanoid Soccer Robots](https://i.ytimg.com/vi/Zsi95FhJrLU/hqdefault.jpg "[CWBB2022] NimbRo-OP2(X): RoboCup AdultSize-winning Open-source Humanoid Soccer Robots
Title: NimbRoOP2(X): RoboCup AdultSize winning Open source Humanoid Soccer Robots
Speaker: Sven Behnke, University of Bonn
Abstract:
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To address this issue, we developed the NimbRo-OP2 and NimbRo-OP2-OP2X robots as capable and affordable adult-sized humanoid platforms aiming to significantly lower the entry barrier for humanoid robot research. With a height of 135cm and weight of only 19kg, the robots can interact in an unmodified, human environment without special safety equipment. The robots are equipped with a powerful on-board computer with GPU, which enables the implementation of state-of-the-art approaches for visual perception and motion planning. The capabilities of the NimbRo-OP2(X) robots, especially in terms of locomotion stability and visual perception, were evaluated at international RoboCup Soccer competitions, where my team NimbRo won the Humanoid AdultSize class multiple times.
Web page: https://www.ais.uni-bonn.de/nimbro/Humanoid
Slides: https://www.ais.uni-bonn.de/behnke/talks/Baymax_Humanoids_WS_2022_10_28_Sven_Behnke.pdf
Speaker Bio:
Prof. Dr. Sven Behnke holds since 2008 the chair for Autonomous Intelligent Systems at the University of Bonn and heads the Computer Science Institute VI – Intelligent Systems and Robotics. He graduated in 1997 from Martin-Luther-Universität Halle-Wittenberg (Dipl.-Inform.) and received his doctorate in computer science (Dr. rer. nat.) from Freie Universität Berlin in 2002. In his dissertation Hierarchical Neural Networks for Image Interpretation he extended forward deep learning models to recurrent models for visual perception. In 2003 he did postdoctoral research on robust speech recognition at the International Computer Science Institute in Berkeley, CA. In 2004-2008 Professor Behnke led the Emmy Noether Junior Research Group Humanoid Robots at Albert-Ludwigs-Universität Freiburg. His research interests include cognitive robotics, computer vision, and machine learning. Prof. Behnke received several Best Paper Awards, three Amazon Research Awards (2018-20), a Google Faculty Research Award (2019), and the Ralf-Dahrendorf-Prize of BMBF for the European Research Area (2019). His team NimbRo has won numerous robot competitions (RoboCup Humanoid Soccer, RoboCup@Home, MBZIRC, ANA Avatar XPRIZE).")
![[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)")
