Tag Archives: design

#435775 Jaco Is a Low-Power Robot Arm That Hooks ...

We usually think of robots as taking the place of humans in various tasks, but robots of all kinds can also enhance human capabilities. This may be especially true for people with disabilities. And while the Cybathlon competition showed what's possible when cutting-edge research robotics is paired with expert humans, that competition isn't necessarily reflective of the kind of robotics available to most people today.

Kinova Robotics's Jaco arm is an assistive robotic arm designed to be mounted on an electric wheelchair. With six degrees of freedom plus a three-fingered gripper, the lightweight carbon fiber arm is frequently used in research because it's rugged and versatile. But from the start, Kinova created it to add autonomy to the lives of people with mobility constraints.

Earlier this year, Kinova shared the story of Mary Nelson, an 11-year-old girl with spinal muscular atrophy, who uses her Jaco arm to show her horse in competition. Spinal muscular atrophy is a neuromuscular disorder that impairs voluntary muscle movement, including muscles that help with respiration, and Mary depends on a power chair for mobility.

We wanted to learn more about how Kinova designs its Jaco arm, and what that means for folks like Mary, so we spoke with both Kinova and Mary's parents to find out how much of a difference a robot arm can make.

IEEE Spectrum: How did Mary interact with the world before having her arm, and what was involved in the decision to try a robot arm in general? And why then Kinova's arm specifically?

Ryan Nelson: Mary interacts with the world much like you and I do, she just uses different tools to do so. For example, she is 100 percent independent using her computer, iPad, and phone, and she prefers to use a mouse. However, she cannot move a standard mouse, so she connects her wheelchair to each device with Bluetooth to move the mouse pointer/cursor using her wheelchair joystick.

For years, we had a Manfrotto magic arm and super clamp attached to her wheelchair and she used that much like the robotic arm. We could put a baseball bat, paint brush, toys, etc. in the super clamp so that Mary could hold the object and interact as physically able children do. Mary has always wanted to be more independent, so we knew the robotic arm was something she must try. We had seen videos of the Kinova arm on YouTube and on their website, so we reached out to them to get a trial.

Can you tell us about the Jaco arm, and how the process of designing an assistive robot arm is different from the process of designing a conventional robot arm?

Nathaniel Swenson, Director of U.S. Operations — Assistive Technologies at Kinova: Jaco is our flagship robotic arm. Inspired by our CEO's uncle and its namesake, Jacques “Jaco” Forest, it was designed as assistive technology with power wheelchair users in mind.

The primary differences between Jaco and our other robots, such as the new Gen3, which was designed to meet the needs of academic and industry research teams, are speed and power consumption. Other robots such as the Gen3 can move faster and draw slightly more power because they aren't limited by the battery size of power wheelchairs. Depending on the use case, they might not interact directly with a human being in the research setting and can safely move more quickly. Jaco is designed to move at safe speeds and make direct contact with the end user and draw very little power directly from their wheelchair.

The most important consideration in the design process of an assistive robot is the safety of the end user. Jaco users operate their robots through their existing drive controls to assist them in daily activities such as eating, drinking, and opening doors and they don't have to worry about the robot draining their chair's batteries throughout the day. The elegant design that results from meeting the needs of our power chair users has benefited subsequent iterations, [of products] such as the Gen3, as well: Kinova's robots are lightweight, extremely efficient in their power consumption, and safe for direct human-robot interaction. This is not true of conventional industrial robots.

What was the learning process like for Mary? Does she feel like she's mastered the arm, or is it a continuous learning process?

Ryan Nelson: The learning process was super quick for Mary. However, she amazes us every day with the new things that she can do with the arm. Literally within minutes of installing the arm on her chair, Mary had it figured out and was shaking hands with the Kinova rep. The control of the arm is super intuitive and the Kinova reps say that SMA (Spinal Muscular Atrophy) children are perfect users because they are so smart—they pick it up right away. Mary has learned to do many fine motor tasks with the arm, from picking up small objects like a pencil or a ruler, to adjusting her glasses on her face, to doing science experiments.

Photo: The Nelson Family

Mary uses a headset microphone to amplify her voice, and she will use the arm and finger to adjust the microphone in front of her mouth after she is done eating (also a task she mastered quickly with the arm). Additionally, Mary will use the arms to reach down and adjust her feet or leg by grabbing them with the arm and moving them to a more comfortable position. All of these examples are things she never really asked us to do, but something she needed and just did on her own, with the help of the arm.

What is the most common feedback that you get from new users of the arm? How about from experienced users who have been using the arm for a while?

Nathaniel Swenson: New users always tell us how excited they are to see what they can accomplish with their new Jaco. From day one, they are able to do things that they have longed to do without assistance from a caregiver: take a drink of water or coffee, scratch an itch, push the button to open an “accessible” door or elevator, or even feed their baby with a bottle.

The most common feedback I hear from experienced users is that Jaco has changed their life. Our experienced users like Mary are rock stars: everywhere they go, people get excited to see what they'll do next. The difference between a new user and an experienced user could be as little as two weeks. People who operate power wheelchairs every day are already expert drivers and we just add a new “gear” to their chair: robot mode. It's fun to see how quickly new users master the intuitive Jaco control modes.

What changes would you like to see in the next generation of Jaco arm?

Ryan Nelson: Titanium fingers! Make it lift heavier objects, hold heavier items like a baseball bat, machine gun, flame thrower, etc., and Mary literally said this last night: “I wish the arm moved fast enough to play the piano.”

Nathaniel Swenson: I love the idea of titanium fingers! Jaco's fingers are made from a flexible polymer and designed to avoid harm. This allows the fingers to bend or dislocate, rather than break, but it also means they are not as durable as a material like titanium. Increased payload, the ability to manipulate heavier objects, requires increased power consumption. We've struck a careful balance between providing enough strength to accomplish most medically necessary Activities of Daily Living and efficient use of the power chair's batteries.

We take Isaac Asimov's Laws of Robotics pretty seriously. When we start to combine machine guns, flame throwers, and artificial intelligence with robots, I get very nervous!

I wish the arm moved fast enough to play the piano, too! I am also a musician and I share Mary's dream of an assistive robot that would enable her to make music. In the meantime, while we work on that, please enjoy this beautiful violin piece by Manami Ito and her one-of-a-kind violin prosthesis:

To what extent could more autonomy for the arm be helpful for users? What would be involved in implementing that?

Nathaniel Swenson: Artificial intelligence, machine learning, and deep learning will introduce greater autonomy in future iterations of assistive robots. This will enable them to perform more complex tasks that aren't currently possible, and enable them to accomplish routine tasks more quickly and with less input than the current manual control requires.

For assistive robots, implementation of greater autonomy involves a focus on end-user safety and improvements in the robot's awareness of its environment. Autonomous robots that work in close proximity with humans need vision. They must be able to see to avoid collisions and they use haptic feedback to tell the robot how much force is being exerted on objects. All of these technologies exist, but the largest obstacle to bringing them to the assistive technology market is to prove to the health insurance companies who will fund them that they are both safe and medically necessary. Continue reading

Posted in Human Robots

#435773 Video Friday: Roller-Skating Quadruped ...

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!):

IEEE Africon 2019 – September 25-27, 2019 – Accra, Ghana
RoboBusiness 2019 – October 1-3, 2019 – Santa Clara, CA, USA
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.

We got a sneak peek of a new version of ANYmal equipped with actuated wheels for feet at the DARPA SubT Challenge, where it did surprisingly well at quickly and (mostly) robustly navigating some very tricky terrain. And when you're not expecting it to travel through a muddy, rocky, and dark tunnel, it looks even more capable:

[ Paper ]

Thanks Marko!

In Langley’s makerspace lab, researchers are developing a series of soft robot actuators to investigate the viability of soft robotics in space exploration and assembly. By design, the actuator has chambers, or air bladders, that expand and compress based on the amount of air in them.

[ NASA ]

I’m not normally a fan of the AdultSize RoboCup soccer competition, but NimbRo had a very impressive season.

I don’t know how it managed to not fall over at 45 seconds, but damn.

[ NimbRo ]

This is more AI than robotics, but that’s okay, because it’s totally cool.

I’m wondering whether the hiders ever tried another possibly effective strategy: trapping the seekers in a locked shelter right at the start.

[ OpenAI ]

We haven’t heard much from Piaggio Fast Forward in a while, but evidently they’ve still got a Gita robot going on, designed to be your personal autonomous caddy for absolutely anything that can fit into something the size of a portable cooler.

Available this fall, I guess?

[ Gita ]

This passively triggered robotic hand is startlingly fast, and seems almost predatory when it grabs stuff, especially once they fit it onto a drone.

[ New Dexterity ]

Thanks Fan!

Autonomous vehicles seem like a recent thing, but CMU has been working on them since the mid 1980s.

CMU was also working on drones back before drones were even really a thing:

[ CMU NavLab ] and [ CMU ]

Welcome to the most complicated and expensive robotic ice cream deployment system ever created.

[ Niska ]

Some impressive dexterity from a robot hand equipped with magnetic gears.

[ Ishikawa Senoo Lab ]

The Buddy Arduino social robot kit is now live on Kickstarter, and you can pledge for one of these little dudes for 49 bucks.

[ Kickstarter ]

Thanks Jenny!

Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive telepresence suit and support-operator controls on different levels of autonomy.

[ CENTAURO ]

Thanks Sven!

Determined robots are the cutest robots.

[ Paper ]

The goal of the Dronument project is to create an aerial platform enabling interior and exterior documentation of heritage sites.

It’s got a base station that helps with localization, but still, flying that close to a chandelier in a UNESCO world heritage site makes me nervous.

[ Dronument ]

Thanks Fan!

Avast ye! No hornswaggling, lick-spittlering, or run-rigging over here – Only serious tech for devs. All hands hoay to check out Misty's capabilities and to build your own skills with plenty of heave ho! ARRRRRRRRGH…

International Talk Like a Pirate Day was yesterday, but I'm sure nobody will look at you funny if you keep at it today too.

[ Misty Robotics ]

This video presents an unobtrusive bimanual teleoperation setup with very low weight, consisting of two Vive visual motion trackers and two Myo surface electromyography bracelets. The video demonstrates complex, dexterous teleoperated bimanual daily-living tasks performed by the torque-controlled humanoid robot TORO.

[ DLR RMC ]

Lex Fridman interviews iRobot’s Colin Angle on the Artificial Intelligence Podcast.

Colin Angle is the CEO and co-founder of iRobot, a robotics company that for 29 years has been creating robots that operate successfully in the real world, not as a demo or on a scale of dozens, but on a scale of thousands and millions. As of this year, iRobot has sold more than 25 million robots to consumers, including the Roomba vacuum cleaning robot, the Braava floor mopping robot, and soon the Terra lawn mowing robot. 25 million robots successfully operating autonomously in people's homes to me is an incredible accomplishment of science, engineering, logistics, and all kinds of entrepreneurial innovation.

[ AI Podcast ]

This week’s CMU RI Seminar comes from CMU’s own Sarah Bergbreiter, on Microsystems-Inspired Robotics.

The ability to manufacture micro-scale sensors and actuators has inspired the robotics community for over 30 years. There have been huge success stories; MEMS inertial sensors have enabled an entire market of low-cost, small UAVs. However, the promise of ant-scale robots has largely failed. Ants can move high speeds on surfaces from picnic tables to front lawns, but the few legged microrobots that have walked have done so at slow speeds (< 1 body length/sec) on smooth silicon wafers. In addition, the vision of large numbers of microfabricated sensors interacting directly with the environment has suffered in part due to the brittle materials used in micro-fabrication. This talk will present our progress in the design of sensors, mechanisms, and actuators that utilize new microfabrication processes to incorporate materials with widely varying moduli and functionality to achieve more robustness, dynamic range, and complexity in smaller packages.

[ CMU RI ] Continue reading

Posted in Human Robots

#435765 The Four Converging Technologies Giving ...

How each of us sees the world is about to change dramatically.

For all of human history, the experience of looking at the world was roughly the same for everyone. But boundaries between the digital and physical are beginning to fade.

The world around us is gaining layer upon layer of digitized, virtually overlaid information—making it rich, meaningful, and interactive. As a result, our respective experiences of the same environment are becoming vastly different, personalized to our goals, dreams, and desires.

Welcome to Web 3.0, or the Spatial Web. In version 1.0, static documents and read-only interactions limited the internet to one-way exchanges. Web 2.0 provided quite an upgrade, introducing multimedia content, interactive web pages, and participatory social media. Yet, all this was still mediated by two-dimensional screens.

Today, we are witnessing the rise of Web 3.0, riding the convergence of high-bandwidth 5G connectivity, rapidly evolving AR eyewear, an emerging trillion-sensor economy, and powerful artificial intelligence.

As a result, we will soon be able to superimpose digital information atop any physical surrounding—freeing our eyes from the tyranny of the screen, immersing us in smart environments, and making our world endlessly dynamic.

In the third post of our five-part series on augmented reality, we will explore the convergence of AR, AI, sensors, and blockchain and dive into the implications through a key use case in manufacturing.

A Tale of Convergence
Let’s deconstruct everything beneath the sleek AR display.

It all begins with graphics processing units (GPUs)—electric circuits that perform rapid calculations to render images. (GPUs can be found in mobile phones, game consoles, and computers.)

However, because AR requires such extensive computing power, single GPUs will not suffice. Instead, blockchain can now enable distributed GPU processing power, and blockchains specifically dedicated to AR holographic processing are on the rise.

Next up, cameras and sensors will aggregate real-time data from any environment to seamlessly integrate physical and virtual worlds. Meanwhile, body-tracking sensors are critical for aligning a user’s self-rendering in AR with a virtually enhanced environment. Depth sensors then provide data for 3D spatial maps, while cameras absorb more surface-level, detailed visual input. In some cases, sensors might even collect biometric data, such as heart rate and brain activity, to incorporate health-related feedback in our everyday AR interfaces and personal recommendation engines.

The next step in the pipeline involves none other than AI. Processing enormous volumes of data instantaneously, embedded AI algorithms will power customized AR experiences in everything from artistic virtual overlays to personalized dietary annotations.

In retail, AIs will use your purchasing history, current closet inventory, and possibly even mood indicators to display digitally rendered items most suitable for your wardrobe, tailored to your measurements.

In healthcare, smart AR glasses will provide physicians with immediately accessible and maximally relevant information (parsed from the entirety of a patient’s medical records and current research) to aid in accurate diagnoses and treatments, freeing doctors to engage in the more human-centric tasks of establishing trust, educating patients and demonstrating empathy.

Image Credit: PHD Ventures.
Convergence in Manufacturing
One of the nearest-term use cases of AR is manufacturing, as large producers begin dedicating capital to enterprise AR headsets. And over the next ten years, AR will converge with AI, sensors, and blockchain to multiply manufacturer productivity and employee experience.

(1) Convergence with AI
In initial application, digital guides superimposed on production tables will vastly improve employee accuracy and speed, while minimizing error rates.

Already, the International Air Transport Association (IATA) — whose airlines supply 82 percent of air travel — recently implemented industrial tech company Atheer’s AR headsets in cargo management. And with barely any delay, IATA reported a whopping 30 percent improvement in cargo handling speed and no less than a 90 percent reduction in errors.

With similar success rates, Boeing brought Skylight’s smart AR glasses to the runway, now used in the manufacturing of hundreds of airplanes. Sure enough—the aerospace giant has now seen a 25 percent drop in production time and near-zero error rates.

Beyond cargo management and air travel, however, smart AR headsets will also enable on-the-job training without reducing the productivity of other workers or sacrificing hardware. Jaguar Land Rover, for instance, implemented Bosch’s Re’flekt One AR solution to gear technicians with “x-ray” vision: allowing them to visualize the insides of Range Rover Sport vehicles without removing any dashboards.

And as enterprise capabilities continue to soar, AIs will soon become the go-to experts, offering support to manufacturers in need of assembly assistance. Instant guidance and real-time feedback will dramatically reduce production downtime, boost overall output, and even help customers struggling with DIY assembly at home.

Perhaps one of the most profitable business opportunities, AR guidance through centralized AI systems will also serve to mitigate supply chain inefficiencies at extraordinary scale. Coordinating moving parts, eliminating the need for manned scanners at each checkpoint, and directing traffic within warehouses, joint AI-AR systems will vastly improve workflow while overseeing quality assurance.

After its initial implementation of AR “vision picking” in 2015, leading courier company DHL recently announced it would continue to use Google’s newest smart lens in warehouses across the world. Motivated by the initial group’s reported 15 percent jump in productivity, DHL’s decision is part of the logistics giant’s $300 million investment in new technologies.

And as direct-to-consumer e-commerce fundamentally transforms the retail sector, supply chain optimization will only grow increasingly vital. AR could very well prove the definitive step for gaining a competitive edge in delivery speeds.

As explained by Vital Enterprises CEO Ash Eldritch, “All these technologies that are coming together around artificial intelligence are going to augment the capabilities of the worker and that’s very powerful. I call it Augmented Intelligence. The idea is that you can take someone of a certain skill level and by augmenting them with artificial intelligence via augmented reality and the Internet of Things, you can elevate the skill level of that worker.”

Already, large producers like Goodyear, thyssenkrupp, and Johnson Controls are using the Microsoft HoloLens 2—priced at $3,500 per headset—for manufacturing and design purposes.

Perhaps the most heartening outcome of the AI-AR convergence is that, rather than replacing humans in manufacturing, AR is an ideal interface for human collaboration with AI. And as AI merges with human capital, prepare to see exponential improvements in productivity, professional training, and product quality.

(2) Convergence with Sensors
On the hardware front, these AI-AR systems will require a mass proliferation of sensors to detect the external environment and apply computer vision in AI decision-making.

To measure depth, for instance, some scanning depth sensors project a structured pattern of infrared light dots onto a scene, detecting and analyzing reflected light to generate 3D maps of the environment. Stereoscopic imaging, using two lenses, has also been commonly used for depth measurements. But leading technology like Microsoft’s HoloLens 2 and Intel’s RealSense 400-series camera implement a new method called “phased time-of-flight” (ToF).

In ToF sensing, the HoloLens 2 uses numerous lasers, each with 100 milliwatts (mW) of power, in quick bursts. The distance between nearby objects and the headset wearer is then measured by the amount of light in the return beam that has shifted from the original signal. Finally, the phase difference reveals the location of each object within the field of view, which enables accurate hand-tracking and surface reconstruction.

With a far lower computing power requirement, the phased ToF sensor is also more durable than stereoscopic sensing, which relies on the precise alignment of two prisms. The phased ToF sensor’s silicon base also makes it easily mass-produced, rendering the HoloLens 2 a far better candidate for widespread consumer adoption.

To apply inertial measurement—typically used in airplanes and spacecraft—the HoloLens 2 additionally uses a built-in accelerometer, gyroscope, and magnetometer. Further equipped with four “environment understanding cameras” that track head movements, the headset also uses a 2.4MP HD photographic video camera and ambient light sensor that work in concert to enable advanced computer vision.

For natural viewing experiences, sensor-supplied gaze tracking increasingly creates depth in digital displays. Nvidia’s work on Foveated AR Display, for instance, brings the primary foveal area into focus, while peripheral regions fall into a softer background— mimicking natural visual perception and concentrating computing power on the area that needs it most.

Gaze tracking sensors are also slated to grant users control over their (now immersive) screens without any hand gestures. Conducting simple visual cues, even staring at an object for more than three seconds, will activate commands instantaneously.

And our manufacturing example above is not the only one. Stacked convergence of blockchain, sensors, AI and AR will disrupt almost every major industry.

Take healthcare, for example, wherein biometric sensors will soon customize users’ AR experiences. Already, MIT Media Lab’s Deep Reality group has created an underwater VR relaxation experience that responds to real-time brain activity detected by a modified version of the Muse EEG. The experience even adapts to users’ biometric data, from heart rate to electro dermal activity (inputted from an Empatica E4 wristband).

Now rapidly dematerializing, sensors will converge with AR to improve physical-digital surface integration, intuitive hand and eye controls, and an increasingly personalized augmented world. Keep an eye on companies like MicroVision, now making tremendous leaps in sensor technology.

While I’ll be doing a deep dive into sensor applications across each industry in our next blog, it’s critical to first discuss how we might power sensor- and AI-driven augmented worlds.

(3) Convergence with Blockchain
Because AR requires much more compute power than typical 2D experiences, centralized GPUs and cloud computing systems are hard at work to provide the necessary infrastructure. Nonetheless, the workload is taxing and blockchain may prove the best solution.

A major player in this pursuit, Otoy aims to create the largest distributed GPU network in the world, called the Render Network RNDR. Built specifically on the Ethereum blockchain for holographic media, and undergoing Beta testing, this network is set to revolutionize AR deployment accessibility.

Alphabet Chairman Eric Schmidt (an investor in Otoy’s network), has even said, “I predicted that 90% of computing would eventually reside in the web based cloud… Otoy has created a remarkable technology which moves that last 10%—high-end graphics processing—entirely to the cloud. This is a disruptive and important achievement. In my view, it marks the tipping point where the web replaces the PC as the dominant computing platform of the future.”

Leveraging the crowd, RNDR allows anyone with a GPU to contribute their power to the network for a commission of up to $300 a month in RNDR tokens. These can then be redeemed in cash or used to create users’ own AR content.

In a double win, Otoy’s blockchain network and similar iterations not only allow designers to profit when not using their GPUs, but also democratize the experience for newer artists in the field.

And beyond these networks’ power suppliers, distributing GPU processing power will allow more manufacturing companies to access AR design tools and customize learning experiences. By further dispersing content creation across a broad network of individuals, blockchain also has the valuable potential to boost AR hardware investment across a number of industry beneficiaries.

On the consumer side, startups like Scanetchain are also entering the blockchain-AR space for a different reason. Allowing users to scan items with their smartphone, Scanetchain’s app provides access to a trove of information, from manufacturer and price, to origin and shipping details.

Based on NEM (a peer-to-peer cryptocurrency that implements a blockchain consensus algorithm), the app aims to make information far more accessible and, in the process, create a social network of purchasing behavior. Users earn tokens by watching ads, and all transactions are hashed into blocks and securely recorded.

The writing is on the wall—our future of brick-and-mortar retail will largely lean on blockchain to create the necessary digital links.

Final Thoughts
Integrating AI into AR creates an “auto-magical” manufacturing pipeline that will fundamentally transform the industry, cutting down on marginal costs, reducing inefficiencies and waste, and maximizing employee productivity.

Bolstering the AI-AR convergence, sensor technology is already blurring the boundaries between our augmented and physical worlds, soon to be near-undetectable. While intuitive hand and eye motions dictate commands in a hands-free interface, biometric data is poised to customize each AR experience to be far more in touch with our mental and physical health.

And underpinning it all, distributed computing power with blockchain networks like RNDR will democratize AR, boosting global consumer adoption at plummeting price points.

As AR soars in importance—whether in retail, manufacturing, entertainment, or beyond—the stacked convergence discussed above merits significant investment over the next decade. The augmented world is only just getting started.

Join Me
(1) A360 Executive Mastermind: Want even more context about how converging exponential technologies will transform your business and industry? Consider joining Abundance 360, a highly selective community of 360 exponentially minded CEOs, who are on a 25-year journey with me—or as I call it, a “countdown to the Singularity.” If you’d like to learn more and consider joining our 2020 membership, apply here.

Share this with your friends, especially if they are interested in any of the areas outlined above.

(2) Abundance-Digital Online Community: I’ve also created a Digital/Online community of bold, abundance-minded entrepreneurs called Abundance-Digital. Abundance-Digital is Singularity University’s ‘onramp’ for exponential entrepreneurs — those who want to get involved and play at a higher level. Click here to learn more.

This article originally appeared on Diamandis.com

Image Credit: Funky Focus / Pixabay Continue reading

Posted in Human Robots

#435752 T-RHex Is a Hexapod Robot With ...

In Aaron Johnson’s “Robot Design & Experimentation” class at CMU, teams of students have a semester to design and build an experimental robotic system based on a theme. For spring 2019, that theme was “Bioinspired Robotics,” which is definitely one of our favorite kinds of robotics—animals can do all kinds of crazy things, and it’s always a lot of fun watching robots try to match them. They almost never succeed, of course, but even basic imitation can lead to robots with some unique capabilities.

One of the projects from this year’s course, from Team ScienceParrot, is a new version of RHex called T-RHex (pronounced T-Rex, like the dinosaur). T-RHex comes with a tail, but more importantly, it has tiny tapered toes, which help it grip onto rough surfaces like bricks, wood, and concrete. It’s able to climb its way up very steep slopes, and hang from them, relying on its toes to keep itself from falling off.

T-RHex’s toes are called microspines, and we’ve seen them in all kinds of robots. The most famous of these is probably JPL’s LEMUR IIB (which wins on sheer microspine volume), although the concept goes back at least 15 years to Stanford’s SpinyBot. Robots that use microspines to climb tend to be fairly methodical at it, since the microspines have to be engaged and disengaged with care, limiting their non-climbing mobility.

T-RHex manages to perform many of the same sorts of climbing and hanging maneuvers without losing RHex’s ability for quick, efficient wheel-leg (wheg) locomotion.

If you look closely at T-RHex walking in the video, you’ll notice that in its normal forward gait, it’s sort of walking on its ankles, rather than its toes. This means that the microspines aren’t engaged most of the time, so that the robot can use its regular wheg motion to get around. To engage the microspines, the robot moves its whegs backwards, meaning that its tail is arguably coming out of its head. But since all of T-RHex’s capability is mechanical in nature and it has no active sensors, it doesn’t really need a head, so that’s fine.

The highest climbable slope that T-RHex could manage was 55 degrees, meaning that it can’t, yet, conquer vertical walls. The researchers were most surprised by the robot’s ability to cling to surfaces, where it was perfectly happy to hang out on a slope of 135 degrees, which is a 45 degree overhang (!). I have no idea how it would ever reach that kind of position on its own, but it’s nice to know that if it ever does, its spines will keep doing their job.

Photo: CMU

T-RHex uses laser-cut acrylic legs, with the microspines embedded into 3D-printed toes. The tail is needed to prevent the robot from tipping backward.

For more details about the project, we spoke with Team ScienceParrot member (and CMU PhD student) Catherine Pavlov via email.

IEEE Spectrum: We’re used to seeing RHex with compliant, springy legs—how do the new legs affect T-RHex’s mobility?

Catherine Pavlov: There’s some compliance in the legs, though not as much as RHex—this is driven by the use of acrylic, which was chosen for budget/manufacturing reasons. Matching the compliance of RHex with acrylic would have made the tines too weak (since often only a few hold the load of the robot during climbing). It definitely means you can’t use energy storage in the legs the way RHex does, for example when pronking. T-RHex is probably more limited by motor speed in terms of mobility though. We were using some borrowed Dynamixels that didn’t allow for good positioning at high speeds.

How did you design the climbing gait? Why not use the middle legs, and why is the tail necessary?

The gait was a lot of hand-tuning and trial-and-error. We wanted a left/right symmetric gait to enable load sharing among more spines and prevent out-of-plane twisting of the legs. When using all three pairs, you have to have very accurate angular positioning or one leg pair gets pushed off the wall. Since two legs should be able to hold the full robot gait, using the middle legs was hurting more than it was helping, with the middle legs sometimes pushing the rear ones off of the wall.

The tail is needed to prevent the robot from tipping backward and “sitting” on the wall. During static testing we saw the robot tip backward, disengaging the front legs, at around 35 degrees incline. The tail allows us to load the front legs, even when they’re at a shallow angle to the surface. The climbing gait we designed uses the tail to allow the rear legs to fully recirculate without the robot tipping backward.

Photo: CMU

Team ScienceParrot with T-RHex.

What prevents T-RHex from climbing even steeper surfaces?

There are a few limiting factors. One is that the tines of the legs break pretty easily. I think we also need a lighter platform to get fully vertical—we’re going to look at MiniRHex for future work. We’re also not convinced our gait is the best it can be, we can probably get marginal improvements with more tuning, which might be enough.

Can the microspines assist with more dynamic maneuvers?

Dynamic climbing maneuvers? I think that would only be possible on surfaces with very good surface adhesion and very good surface strength, but it’s certainly theoretically possible. The current instance of T-RHex would definitely break if you tried to wall jump though.

What are you working on next?

Our main target is exploring the space of materials for leg fabrication, such as fiberglass, PLA, urethanes, and maybe metallic glass. We think there’s a lot of room for improvement in the leg material and geometry. We’d also like to see MiniRHex equipped with microspines, which will require legs about half the scale of what we built for T-RHex. Longer-term improvements would be the addition of sensors e.g. for wall detection, and a reliable floor-to-wall transition and dynamic gait transitions.

[ T-RHex ] Continue reading

Posted in Human Robots

#435750 Video Friday: Amazon CEO Jeff Bezos ...

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):

RSS 2019 – June 22-26, 2019 – Freiburg, Germany
Hamlyn Symposium on Medical Robotics – June 23-26, 2019 – London, U.K.
ETH Robotics Summer School – June 27-1, 2019 – Zurich, Switzerland
MARSS 2019 – July 1-5, 2019 – Helsinki, Finland
ICRES 2019 – July 29-30, 2019 – London, U.K.
Let us know if you have suggestions for next week, and enjoy today’s videos.

Last week at the re:MARS conference, Amazon CEO and aspiring supervillain Jeff Bezos tried out this pair of dexterous robotic hands, which he described as “weirdly natural” to operate. The system combines Shadow Robot’s anthropomorphic robot hands with SynTouch’s biomimetic tactile sensors and HaptX’s haptic feedback gloves.

After playing with the robot, Bezos let out his trademark evil laugh.

[ Shadow Robot ]

The RoboMaster S1 is DJI’s advanced new educational robot that opens the door to limitless learning and entertainment. Develop programming skills, get familiar with AI technology, and enjoy thrilling FPV driving with games and competition. From young learners to tech enthusiasts, get ready to discover endless possibilities with the RoboMaster S1.

[ DJI ]

It’s very impressive to see DLR’s humanoid robot Toro dynamically balancing, even while being handed heavy objects, pushing things, and using multi-contact techniques to kick a fire extinguisher for some reason.

The paper is in RA-L, and you can find it at the link below.

[ RA-L ] via [ DLR ]

Thanks Maximo!

Is it just me, or does the Suzumori Endo Robotics Laboratory’s Super Dragon arm somehow just keep getting longer?

Suzumori Endo Lab, Tokyo Tech developed a 10 m-long articulated manipulator for investigation inside the primary containment vessel of the Fukushima Daiichi Nuclear Power Plants. We employed a coupled tendon-driven mechanism and a gravity compensation mechanism using synthetic fiber ropes to design a lightweight and slender articulated manipulator. This work was published in IEEE Robotics and Automation Letters and Transactions of the JSME.

[ Suzumori Endo Lab ]

From what I can make out thanks to Google Translate, this cute little robot duck (developed by Nissan) helps minimize weeds in rice fields by stirring up the water.

[ Nippon.com ]

Confidence in your robot is when you can just casually throw it off of a balcony 15 meters up.

[ SUTD ]

You had me at “we’re going to completely submerge this apple in chocolate syrup.”

[ Soft Robotics Inc ]

In the mid 2020s, the European Space Agency is planning on sending a robotic sample return mission to the Moon. It’s called Heracles, after the noted snake-strangler of Greek mythology.

[ ESA ]

Rethink Robotics is still around, they’re just much more German than before. And Sawyer is still hard at work stealing jobs from humans.

[ Rethink Robotics ]

The reason to watch this new video of the Ghost Robotics Vision 60 quadruped is for the 3 seconds worth of barrel roll about 40 seconds in.

[ Ghost Robotics ]

This is a relatively low-altitude drop for Squishy Robotics’ tensegrity scout, but it still cool to watch a robot that’s resilient enough to be able to fall and just not worry about it.

[ Squishy Robotics ]

We control here the Apptronik DRACO bipedal robot for unsupported dynamic locomotion. DRACO consists of a 10 DoF lower body with liquid cooled viscoelastic actuators to reduce weight, increase payload, and achieve fast dynamic walking. Control and walking algorithms are designed by UT HCRL Laboratory.

I think all robot videos should be required to start with two “oops” clips followed by a “for real now” clip.

[ Apptronik ]

SAKE’s EZGripper manages to pick up a wrench, and also pick up a raspberry without turning it into instajam.

[ SAKE Robotics ]

And now: the robotic long-tongued piggy, courtesy Sony Toio.

[ Toio ]

In this video the ornithopter developed inside the ERC Advanced Grant GRIFFIN project performs its first flight. This projects aims to develop a flapping wing system with manipulation and human interaction capabilities.

A flapping-wing system with manipulation and human interaction capabilities, you say? I would like to subscribe to your newsletter.

[ GRVC ]

KITECH’s robotic hands and arms can manipulate, among other things, five boxes of Elmos. I’m not sure about the conversion of Elmos to Snuffleupaguses, although it turns out that one Snuffleupagus is exactly 1,000 pounds.

[ Ji-Hun Bae ]

The Australian Centre for Field Robotics (ACFR) has been working on agricultural robots for almost a decade, and this video sums up a bunch of the stuff that they’ve been doing, even if it’s more amusing than practical at times.

[ ACFR ]

ROS 2 is great for multi-robot coordination, like when you need your bubble level to stay really, really level.

[ Acutronic Robotics ]

We don’t hear iRobot CEO Colin Angle give a lot of talks, so this recent one (from Amazon’s re:MARS conference) is definitely worth a listen, especially considering how much innovation we’ve seen from iRobot recently.

Colin Angle, founder and CEO of iRobot, has unveil a series of breakthrough innovations in home robots from iRobot. For the first time on stage, he will discuss and demonstrate what it takes to build a truly intelligent system of robots that work together to accomplish more within the home – and enable that home, and the devices within it, to work together as one.

[ iRobot ]

In the latest episode of Robots in Depth, Per speaks with Federico Pecora from the Center for Applied Autonomous Sensor Systems at Örebro University in Sweden.

Federico talks about working on AI and service robotics. In this area he has worked on planning, especially focusing on why a particular goal is the one that the robot should work on. To make robots as useful and user friendly as possible, he works on inferring the goal from the robot’s environment so that the user does not have to tell the robot everything.

Federico has also worked with AI robotics planning in industry to optimize results. Managing the relative importance of tasks is another challenging area there. In this context, he works on automating not only a single robot for its goal, but an entire fleet of robots for their collective goal. We get to hear about how these techniques are being used in warehouse operations, in mines and in agriculture.

[ Robots in Depth ] Continue reading

Posted in Human Robots