Tag Archives: humanoid

#436094 Agility Robotics Unveils Upgraded Digit ...

Last time we saw Agility Robotics’ Digit biped, it was picking up a box from a Ford delivery van and autonomously dropping it off on a porch, while at the same time managing to not trip over stairs, grass, or small children. As a demo, it was pretty impressive, but of course there’s an enormous gap between making a video of a robot doing a successful autonomous delivery and letting that robot out into the semi-structured world and expecting it to reliably do a good job.

Agility Robotics is aware of this, of course, and over the last six months they’ve been making substantial improvements to Digit to make it more capable and robust. A new video posted today shows what’s new with the latest version of Digit—Digit v2.

We appreciate Agility Robotics foregoing music in the video, which lets us hear exactly what Digit sounds like in operation. The most noticeable changes are in Digit’s feet, torso, and arms, and I was particularly impressed to see Digit reposition the box on the table before grasping it to make sure that it could get a good grip. Otherwise, it’s hard to tell what’s new, so we asked Agility Robotics’ CEO Damion Shelton to get us up to speed.

IEEE Spectrum: Can you summarize the differences between Digit v1 and v2? We’re particularly interested in the new feet.

Damion Shelton: The feet now include a roll degree of freedom, so that Digit can resist lateral forces without needing to side step. This allows Digit v2 to balance on one foot statically, which Digit v1 and Cassie could not do. The larger foot also dramatically decreases load per unit area, for improved performance on very soft surfaces like sand.

The perception stack includes four Intel RealSense cameras used for obstacle detection and pick/place, plus the lidar. In Digit v1, the perception systems were brought up incrementally over time for development purposes. In Digit v2, all perception systems are active from the beginning and tied to a dedicated computer. The perception system is used for a number of additional things beyond manipulation, which we’ll start to show in the next few weeks.

The torso changes are a bit more behind-the-scenes. All of the electronics in it are now fully custom, thermally managed, and environmentally sealed. We’ve also included power and ethernet to a payload bay that can fit either a NUC or Jetson module (or other customer payload).

What exactly are we seeing in the video in terms of Digit’s autonomous capabilities?

At the moment this is a demonstration of shared autonomy. Picking and placing the box is fully autonomous. Balance and footstep placement are fully autonomous, but guidance and obstacle avoidance are under local teleop. It’s no longer a radio controller as in early videos; we’re not ready to reveal our current controller design but it’s a reasonably significant upgrade. This is v2 hardware, so there’s one more full version in development prior to the 2020 launch, which will expand the autonomy envelope significantly.

“This is a demonstration of shared autonomy. Picking and placing the box is fully autonomous. Balance and footstep placement are fully autonomous, but guidance and obstacle avoidance are under local teleop. It’s no longer a radio controller as in early videos; we’re not ready to reveal our current controller design but it’s a reasonably significant upgrade”
—Damion Shelton, Agility Robotics

What are some unique features or capabilities of Digit v2 that might not be obvious from the video?

For those who’ve used Cassie robots, the power-up and power-down ergonomics are a lot more user friendly. Digit can be disassembled into carry-on luggage sized pieces (give or take) in under 5 minutes for easy transport. The battery charges in-situ using a normal laptop-style charger.

I’m curious about this “stompy” sort of gait that we see in Digit and many other bipedal robots—are there significant challenges or drawbacks to implementing a more human-like (and presumably quieter) heel-toe gait?

There are no drawbacks other than increased complexity in controls and foot design. With Digit v2, the larger surface area helps with the noise, and v2 has similar or better passive-dynamic performance as compared to Cassie or Digit v1. The foot design is brand new, and new behaviors like heel-toe are an active area of development.

How close is Digit v2 to a system that you’d be comfortable operating commercially?

We’re on track for a 2020 launch for Digit v3. Changes from v2 to v3 are mostly bug-fix in nature, with a few regulatory upgrades like full battery certification. Safety is a major concern for us, and we have launch customers that will be operating Digit in a safe environment, with a phased approach to relaxing operational constraints. Digit operates almost exclusively under force control (as with cobots more generally), but at the moment we’ll err on the side of caution during operation until we have the stats to back up safety and reliability. The legged robot industry has too much potential for us to screw it up by behaving irresponsibly.

It will be a while before Digit (or any other humanoid robot) is operating fully autonomously in crowds of people, but there are so many large market opportunities (think indoor factory/warehouse environments) to address prior to that point that we expect to mature the operational safety side of things well in advance of having saturated the more robot-tolerant markets.

[ Agility Robotics ] Continue reading

Posted in Human Robots

#436079 Video Friday: This Humanoid Robot Will ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here’s what we have so far (send us your events!):

Northeast Robotics Colloquium – October 12, 2019 – Philadelphia, Pa., USA
Ro-Man 2019 – October 14-18, 2019 – New Delhi, India
Humanoids 2019 – October 15-17, 2019 – Toronto, Canada
ARSO 2019 – October 31-1, 2019 – Beijing, China
ROSCon 2019 – October 31-1, 2019 – Macau
IROS 2019 – November 4-8, 2019 – Macau
Let us know if you have suggestions for next week, and enjoy today’s videos.

What’s better than a robotics paper with “dynamic” in the title? A robotics paper with “highly dynamic” in the title. From Sangbae Kim’s lab at MIT, the latest exploits of Mini Cheetah:

Yes I’d very much like one please. Full paper at the link below.

[ Paper ] via [ MIT ]

A humanoid robot serving you ice cream—on his own ice cream bike: What a delicious vision!

[ Roboy ]

The Roomba “i” series and “s” series vacuums have just gotten an update that lets you set “keep out” zones, which is super useful. Tell your robot where not to go!

I feel bad, that Roomba was probably just hungry 🙁

[ iRobot ]

We wrote about Voliro’s tilt-rotor hexcopter a couple years ago, and now it’s off doing practical things, like spray painting a building pretty much the same color that it was before.

[ Voliro ]

Thanks Mina!

Here’s a clever approach for bin-picking problematic objects, like shiny things: Just grab a whole bunch, and then sort out what you need on a nice robot-friendly table.

It might take a little bit longer, but what do you care, you’re probably off sipping a cocktail with a little umbrella in it on a beach somewhere.

[ Harada Lab ]

A unique combination of the IRB 1200 and YuMi industrial robots that use vision, AI and deep learning to recognize and categorize trash for recycling.

[ ABB ]

Measuring glacial movements in-situ is a challenging, but necessary task to model glaciers and predict their future evolution. However, installing GPS stations on ice can be dangerous and expensive when not impossible in the presence of large crevasses. In this project, the ASL develops UAVs for dropping and recovering lightweight GPS stations over inaccessible glaciers to record the ice flow motion. This video shows the results of first tests performed at Gorner glacier, Switzerland, in July 2019.

[ EPFL ]

Turns out Tertills actually do a pretty great job fighting weeds.

Plus, they leave all those cute lil’ Tertill tracks.

[ Franklin Robotics ]

The online autonomous navigation and semantic mapping experiment presented [below] is conducted with the Cassie Blue bipedal robot at the University of Michigan. The sensors attached to the robot include an IMU, a 32-beam LiDAR and an RGB-D camera. The whole online process runs in real-time on a Jetson Xavier and a laptop with an i7 processor.

The resulting map is so precise that it looks like we are doing real-time SLAM (simultaneous localization and mapping). In fact, the map is based on dead-reckoning via the InvEKF.

[ GTSAM ] via [ University of Michigan ]

UBTECH has announced an upgraded version of its Meebot, which is 30 percent bigger and comes with more sensors and programmable eyes.

[ UBTECH ]

ABB’s research team will be working with medical staff, scientist and engineers to develop non-surgical medical robotics systems, including logistics and next-generation automated laboratory technologies. The team will develop robotics solutions that will help eliminate bottlenecks in laboratory work and address the global shortage of skilled medical staff.

[ ABB ]

In this video, Ian and Chris go through Misty’s SDK, discussing the languages we’ve included, the tools that make it easy for you to get started quickly, a quick rundown of how to run the skills you build, plus what’s ahead on the Misty SDK roadmap.

[ Misty Robotics ]

My guess is that this was not one of iRobot’s testing environments for the Roomba.

You know, that’s actually super impressive. And maybe if they threw one of the self-emptying Roombas in there, it would be a viable solution to the entire problem.

[ How Farms Work ]

Part of WeRobotics’ Flying Labs network, Panama Flying Labs is a local knowledge hub catalyzing social good and empowering local experts. Through training and workshops, demonstrations and missions, the Panama Flying Labs team leverages the power of drones, data, and AI to promote entrepreneurship, build local capacity, and confront the pressing social challenges faced by communities in Panama and across Central America.

[ Panama Flying Labs ]

Go on a virtual flythrough of the NIOSH Experimental Mine, one of two courses used in the recent DARPA Subterranean Challenge Tunnel Circuit Event held 15-22 August, 2019. The data used for this partial flythrough tour were collected using 3D LIDAR sensors similar to the sensors commonly used on autonomous mobile robots.

[ SubT ]

Special thanks to PBS, Mark Knobil, Joe Seamans and Stan Brandorff and many others who produced this program in 1991.

It features Reid Simmons (and his 1 year old son), David Wettergreen, Red Whittaker, Mac Macdonald, Omead Amidi, and other Field Robotics Center alumni building the planetary walker prototype called Ambler. The team gets ready for an important demo for NASA.

[ CMU RI ]

As art and technology merge, roboticist Madeline Gannon explores the frontiers of human-robot interaction across the arts, sciences and society, and explores what this could mean for the future.

[ Sonar+D ] Continue reading

Posted in Human Robots

#436042 Video Friday: Caltech’s Drone With ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here’s what we have so far (send us your events!):

ISRR 2019 – October 6-10, 2019 – Hanoi, Vietnam
Ro-Man 2019 – October 14-18, 2019 – New Delhi, India
Humanoids 2019 – October 15-17, 2019 – Toronto, Canada
ARSO 2019 – October 31-1, 2019 – Beijing, China
ROSCon 2019 – October 31-1, 2019 – Macau
IROS 2019 – November 4-8, 2019 – Macau
Let us know if you have suggestions for next week, and enjoy today’s videos.

Caltech has been making progress on LEONARDO (LEg ON Aerial Robotic DrOne), their leggy thruster powered humanoid-thing. It can now balance and walk, which is quite impressive to see.

We’ll circle back again when they’ve got it jumping and floating around.

[ Caltech ]

Turn the subtitles on to learn how robots became experts at slicing bubbly, melty, delicious cheese.

These robots learned how to do the traditional Swiss raclette from demonstration. The Robot Learning & Interaction group at the Idiap Research Institute has developed an imitation learning technique allowing the robot to acquire new skills by considering position and force information, with an automatic adaptation to new situations. The range of applications is wide, including industrial robots, service robots, and assistive robots.

[ Idiap ]

Thanks Sylvain!

Some amazing news this week from Skydio, with the announcement of their better in every single way Skydio 2 autonomous drone. Read our full article for details, but here’s a getting started video that gives you an overview of what the drone can do.

The first batch sold out in 36 hours, but you can put down a $100 deposit to reserve the $999 drone for 2020 delivery.

[ Skydio ]

UBTECH is introducing a couple new robot kits for the holidays: ChampBot and FireBot.

$130 each, available on October 20.

[ Ubtech ]

NASA’s InSight lander on Mars is trying to use its robotic arm to get the mission’s heat flow probe, or mole, digging again. InSight team engineer Ashitey Trebbi-Ollennu, based at NASA’s Jet Propulsion Laboratory in Pasadena, California, explains what has been attempted and the game plan for the coming weeks. The next tactic they’ll try will be “pinning” the mole against the hole it’s in.

[ NASA ]

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions.

[ Ryo Suzuki ]

Robot abuse!

Vision 60 legged robot managing unstructured terrain without vision or force sensors in its legs. Using only high-transparency actuators and 2kHz algorithmic stability control… 4-limbs and 12-motors with only a velocity command.

[ Ghost Robotics ]

We asked real people to bring in real products they needed picked for their application. In MINUTES, we assembled the right tool.

This is a cool idea, but for a real challenge they should try it outside a supermarket. Or a pet store.

[ Soft Robotics ]

Good water quality is important to humans and to nature. In a country with as much water as the Netherlands has, ensuring water quality is a very labour-intensive undertaking. To address this issue, researchers from TU Delft have developed a ‘pelican drone’: a drone capable of taking water samples quickly, in combination with a measuring instrument that immediately analyses the water quality. The drone was tested this week at the new Marker Wadden nature area ‘Living Lab’.

[ MAVLab ]

In an international collaboration led by scientists in Switzerland, three amputees merge with their bionic prosthetic legs as they climb over various obstacles without having to look. The amputees report using and feeling their bionic leg as part of their own body, thanks to sensory feedback from the prosthetic leg that is delivered to nerves in the leg’s stump.

[ EPFL ]

It’s a little hard to see, but this is one way of testing out asteroid imaging spacecraft without actually going into space: a fake asteroid and a 2D microgravity simulator.

[ Caltech ]

Drones can help filmmakers do the kinds of shots that would be otherwise impossible.

[ DJI ]

Two long interviews this week from Lex Fridman’s AI Podcast, and both of them are worth watching: Gary Marcus, and Peter Norvig.

[ AI Podcast ]

This week’s CMU RI Seminar comes from Tucker Hermans at the University of Utah, on “Improving Multi-fingered Robot Manipulation by Unifying Learning and Planning.”

Multi-fingered hands offer autonomous robots increased dexterity, versatility, and stability over simple two-fingered grippers. Naturally, this increased ability comes with increased complexity in planning and executing manipulation actions. As such, I propose combining model-based planning with learned components to improve over purely data-driven or purely-model based approaches to manipulation. This talk examines multi-fingered autonomous manipulation when the robot has only partial knowledge of the object of interest. I will first present results on planning multi-fingered grasps for novel objects using a learned neural network. I will then present our approach to planning in-hand manipulation tasks when dynamic properties of objects are not known. I will conclude with a discussion of our ongoing and future research to further unify these two approaches.

[ CMU RI ] Continue reading

Posted in Human Robots

#436005 NASA Hiring Engineers to Develop “Next ...

It’s been nearly six years since NASA unveiled Valkyrie, a state-of-the-art full-size humanoid robot. After the DARPA Robotics Challenge, NASA has continued to work with Valkyrie at Johnson Space Center, and has also provided Valkyrie robots to several different universities. Although it’s not a new platform anymore (six years is a long time in robotics), Valkyrie is still very capable, with plenty of potential for robotics research.

With that in mind, we were caught by surprise when over the last several months, Jacobs, a Dallas-based engineering company that appears to provide a wide variety of technical services to anyone who wants them, has posted several open jobs in need of roboticists in the Houston, Texas, area who are interested in working with NASA on “the next generation of humanoid robot.”

Here are the relevant bullet points from the one of the job descriptions (which you can view at this link):

Work directly with NASA Johnson Space Center in designing the next generation of humanoid robot.

Join the Valkyrie humanoid robot team in NASA’s Robotic Systems Technology Branch.

Build on the success of the existing Valkyrie and Robonaut 2 humanoid robots and advance NASA’s ability to project a remote human presence and dexterous manipulation capability into challenging, dangerous, and distant environments both in space and here on earth.

The question is, why is NASA developing its own humanoid robot (again) when it could instead save a whole bunch of time and money by using a platform that already exists, whether it’s Atlas, Digit, Valkyrie itself, or one of the small handful of other humanoids that are more or less available? The only answer that I can come up with is that no existing platforms meet NASA’s requirements, whatever those may be. And if that’s the case, what kind of requirements are we talking about? The obvious one would be the ability to work in the kinds of environments that NASA specializes in—space, the Moon, and Mars.

Image: NASA

Artist’s concept of NASA’s Valkyrie humanoid robot working on the surface of Mars.

NASA’s existing humanoid robots, including Robonaut 2 and Valkyrie, were designed to operate on Earth. Robonaut 2 ended up going to space anyway (it’s recently returned to Earth for repairs), but its hardware was certainly never intended to function outside of the International Space Station. Working in a vacuum involves designing for a much more rigorous set of environmental challenges, and things get even worse on the Moon or on Mars, where highly abrasive dust gets everywhere.

We know that it’s possible to design robots for long term operation in these kinds of environments because we’ve done it before. But if you’re not actually going to send your robot off-world, there’s very little reason to bother making sure that it can operate through (say) 300° Celsius temperature swings like you’d find on the Moon. In the past, NASA has quite sensibly focused on designing robots that can be used as platforms for the development of software and techniques that could one day be applied to off-world operations, without over-engineering those specific robots to operate in places that they would almost certainly never go. As NASA increasingly focuses on a return to the Moon, though, maybe it’s time to start thinking about a humanoid robot that could actually do useful stuff on the lunar surface.

Image: NASA

Artist’s concept of the Gateway moon-orbiting space station (seen on the right) with an Orion crew vehicle approaching.

The other possibility that I can think of, and perhaps the more likely one, is that this next humanoid robot will be a direct successor to Robonaut 2, intended for NASA’s Gateway space station orbiting the Moon. Some of the robotics folks at NASA that we’ve talked to recently have emphasized how important robotics will be for Gateway:

Trey Smith, NASA Ames: Everybody at NASA is really excited about work on the Gateway space station that would be in near lunar space. We don’t have definite plans for what would happen on the Gateway yet, but there’s a general recognition that intra-vehicular robots are important for space stations. And so, it would not be surprising to see a mobile manipulator like Robonaut, and a free flyer like Astrobee, on the Gateway.

If you have an un-crewed cargo vehicle that shows up stuffed to the rafters with cargo bags and it docks with the Gateway when there’s no crew there, it would be very useful to have intra-vehicular robots that can pull all those cargo bags out, unpack them, stow all the items, and then even allow the cargo vehicle to detach before the crew show up so that the crew don’t have to waste their time with that.

Julia Badger, NASA JSC: One of the systems on board Gateway is going to be intravehicular robots. They’re not going to necessarily look like Robonaut, but they’ll have some of the same functionality as Robonaut—being mobile, being able to carry payloads from one part of the module to another, doing some dexterous manipulation tasks, inspecting behind panels, those sorts of things.

Image: NASA

Artist’s concept of NASA’s Valkyrie humanoid robot working inside a spacecraft.

Since Gateway won’t be crewed by humans all of the time, it’ll be important to have a permanent robotic presence to keep things running while nobody is home while saving on resources by virtue of the fact that robots aren’t always eating food, drinking water, consuming oxygen, demanding that the temperature stays just so, and producing a variety of disgusting kinds of waste. Obviously, the robot won’t be as capable as humans, but if they can manage to do even basic continuing maintenance tasks (most likely through at least partial teleoperation), that would be very useful.

Photo: Evan Ackerman/IEEE Spectrum

NASA’s Robonaut team plans to perform a variety of mobility and motion-planning experiments using the robot’s new legs, which can grab handrails on the International Space Station.

As for whether robots designed for Gateway would really fall into the “humanoid” category, it’s worth considering that Gateway is designed for humans, implying that an effective robotic system on Gateway would need to be able to interact with the station in similar ways to how a human astronaut would. So, you’d expect to see arms with end-effectors that can grip things as well as push buttons, and some kind of mobility system—the legged version of Robonaut 2 seems like a likely template, but redesigned from the ground up to work in space, incorporating all the advances in robotics hardware and computing that have taken place over the last decade.

We’ve been pestering NASA about this for a little bit now, and they’re not ready to comment on this project, or even to confirm it. And again, everything in this article (besides the job post, which you should totally check out and consider applying for) is just speculation on our part, and we could be wrong about absolutely all of it. As soon as we hear more, we’ll definitely let you know. Continue reading

Posted in Human Robots

#435492 Humanoid table tennis players

Trust the Chinese to come up with Android Robots for one of their favorite sports! The robot can also play a human opponent, using either forehand or backhand strokes. Related Posts When Will We Finally Achieve True …The field of … Continue reading

Posted in Human Robots