From Computational Learning and Motor Control Lab

Research: Experimental Equipment

Sarcos Humanoid: The Sarcos Humanoid is a hydraulically actuated high performance humanoid robot that can walk and interact with the world with arms and hands and an active vision head. It is one of the most high performance humanoid robots in the world. This robot is corner stone of our research on humanoid movement generation, learning in autonomous systems, and the study of motor skills in humans and humanoids.

Hubo Humanoid: The Hubo humanoid is an advance, about 1.5 meters tall humanoid robot that can autonomously walk and manipulate the world with arms and hands. The robots was funded by National Science Foundation Major Research Instrumentation Grant to develop the world’s first homogenous adult-sized humanoid robot team, enabling researchers across the country to work with a common instrument to compare, benchmark, and validate methods and results.

Willow Garage PR2 Robot: The PRS is a personal robot with a wheeled platform, including two arms an various visual and range finding sensors. It is provided by Willow Garage to several research labs in the world to advance open source software on mobile manipulation. We use this robot for studies of learning, reaching, grasping, and manipulations in various scenarios, from simple motor skills to complex human-robot interaction.

Aldebaran NAO Robot: The NAO robot is a 58cm tall humanoid robot with 25 degree-of-freedom. It is one of the most advanced small scale humanoids with numerous sensors for control and human robot interaction. We use this robot primarily for educational purposes and to study autonomous robotics on a system that poses minimal safety concerns for the user.

ARM-S Robot Manipulation System: The ARM-S robot is built from two Barrett WAM Robot Arms, each of which has a 3-finger hand with touch sensors. Additionally, the robot has 4 degree-of-freedom neck, with one HD camera, a stereo vision system, and a Swiss Ranger range finder. The robot is the experimental platform a new DARPA project on autonomous robotic manipulation, which will push the state-of-the-art of research an robotic grasping and manipulation to novel frontiers. The robot was funded by the DARPA ARM-S program.

Barrett WAM Robot Arm: The WAM robot is a 7 degree-of-freedom arm with a 3-finger hand. The robot is used to study autonomous manipulation and touch perception with a new development of tactile sensors. The robot was funded by an NSF Major Research Instrumentation grant.

Little Dog: The Little Dog robot is a small (3kg, 30cm length) robot dog with 3 degree-of-freedom per leg, i.e., a total of 12 degrees-of-freedom. ItI has force sensors at the feet, and a IMU for attitude control. The Little Dog robot is used to study autonomous locomotion over very rough terrain. The robot was funded by the DARPA L2 project. Read more ...

Sarcos Primus Head: The Primus robot head has two independently controlled pan-tilt camera eyes, each with two cameras, a narrow angle and a wide angle camera, which mimic the foveated and peripheral vision of humans. The robot has an IMU in the head, two microphone ears, and three degree-of-freedom in the neck. The camera eyes achieve close to human speed and acceleration due to a special design that avoids any motor in the eyes. The robot is used to study oculomotor control, active vision, visual attention, and general active perception for motor control. The robot was funded with the help of the ATR Computational Neuroscience Labs and the Japanese Science and Technology Corporation.

Sarcos Slave Arm: The Sarcos Slave Arm is a very high performance 3000psi (210 bar) hydraulic robot arm, with 7 degree-of-freedom in the arm, and three additional finger degrees-of-freedom. We use this arm for manipulation experiments and real-time learning of motor skills. The robot arm was provided to us through the ATR Computational Neuroscience Labs in Japan

Sarcos Master Arm: The Sarcos Master Arm is the teleoperation counterpart of the Sarcos Slave Arm. It has the same degree-of-freedom as the slave arm, but its kinematic structure is such that a human arm can be inserted into the arm, and the human operator can move the robot arm in this way. The Master Arm runs with 3000psi (210 bar) hydraulics, with 7 degrees of freedom in the arm, and three additional finger degrees-of-freedom. We use this arm for imitation learning to teach movements, and in human psychophysics experiments as manipulandum that can perturb normal human movement with forces. The robot arm was provided to us through the ATR Computational Neuroscience Labs in Japan

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Page last modified on January 01, 2011, at 10:56 PM