1.) Anthropomorphic manipulator – Franka Emika
The Franka Emika is a 7 DOF anthropomorphic manipulator, i.e., it has three shoulder joints, an elbow, and three wrist joints. The robot has toque sensors in all its seven joints. It can be operated in the following control modes: gravity & friction compensated joint level torque commands, joint position or velocity commands, Cartesian pose or velocity commands. Communication with the robot runs at 1kHz. The robot arms is actively compliant, which allows it to safely interact with its environment and with humans. The robot has a payload of 3 kg and a repeatability is ±0.1mm. Maximal end-effector speed is 2m/s.
2.) Anthropomorphic manipulator – KUKA LBR iiwa 14 R820 (Yael’s Edan lab)
The KUKA LBR iiwa 14 R820 is 7 DOF anthropomorphic manipulator, i.e., it has three shoulder joints, an elbow, and three wrist joints. The robot has integrated, sensitive force/torque sensors in all seven axes and it can be operated three control modes: position control, gravitation compensation control, compliance control (impedance control). Communication with the robot runs at 1kHz. The robot arms is actively compliant, which allows it to safely interact with its environment and with humans. The robot has a payload of 14 kg and the repeatability is ±0.1mm.
3.) Humanoid robot – Nao6, Aldebaran/Softbank Robotics
Nao is 58 cm in height, and is an autonomous, programmable humanoid robot with 25 DOF. It is equipped with many sensors: Tactile sensors, ultrasonic sensors, a gyro, an accelerometer, 8 force sensors, 2 HD cameras, 4 microphones and high accuracy digital encoders on each joint. The motherboard is equipped with an Intel Atom E3845, 1.91Gh, 4GB RAM and the robot can communicate via WiFi, Bluetooth and wired network. The robot joints are equipped with joint encoders.
NAO is built with 7 seven senses for natural interaction:
Moving : 25 degrees of freedom and a humanoid shape that enable him to move and adapt to the world around him. His inertial unit enables him to maintain his balance and to know whether he is standing up or lying down. Feeling : The numerous sensors in his head, hands and feet, as well as his sonars, enable him to perceive his environment and get his bearings. Hearing and speaking : With his 4 directional microphones and loudspeakers, NAO interacts with humans in a completely natural manner, by listening and speaking. Seeing : NAO is equipped with two cameras that film his environment in high resolution, helping him to recognise shapes and objects. Connecting : To access the Internet autonomously, NAO is able to use a range of different connection modes (WiFi, Ethernet). Thinking : We can’t really talk about “Artificial Intelligence” with NAO, but the robots are already able to reproduce human behaviour.
4.) Mobile robots – Turtlebot 3, Robotis
TurtleBot 3 Burger is a small, programmable, ROS-based mobile robot. The Burger has two DYNAMIXEL XL-430-W350-T servo, a Raspberry Pi board, laser distance sensor, microSD card and lithium polymer battery. It is well suited for use in education and research.