ArtBot

New 7DOF arms for the robot

I am working on a new 7DOF arm for the robot. The pic below shows the two arms connected to the upper torso.

I will write a paper detailing the Inverse Kinematics calculation for the whole robot (arms + torso + legs).It will be a combination of closed forms + geometric resolution.

If somebody is interested, let me know

Mass distribution and the need for new actuators

I wanted to write this article to highlight the difference of mass distribution between humans and humanoid robots (small to medium size) in order to highlight the difference and the consequences in terms of control and the need for new actuators dedicated to humanoid robots.

Lower part of the body assembled and tested - new design of the foot

I finished to built the lower part of the body of the robot. Here are some pictures of how it looks like with a focus on the foot and the silicon layer under the foot.

Lower part of the body almost done

These days I am building the robot. Most of the frames have been created by a 3D printer, namely the FORM 1+, which really fantastic. If I have enough time I will write a note about it.

Description of the ODOI platform : mechanical part

In this note, we will overview the main features of the ODOI platform. Finally I completed the whole design and one can see below how it looks like.