Dimitri: an Open-Source Humanoid Robot with Compliant Joint
- 206 Downloads
We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, force-informed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot’s qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration.
KeywordsHumanoid robot Compliant joints MTRNN Neural network
Unable to display preview. Download preview PDF.
- 1.Ahmadi, A., Tatsch, C., Montenegro, F.J.C., Tani, J., Guerra R.D.S.: Dimitri: a low-cost compliant humanoid torso designed for cognitive robotics research. In: Proceedings of the 2016 IEEE Latin American Robotics Symposium (LARS) (2016)Google Scholar
- 3.Ashby, M., Johnson, K.: Materials and desing: the art and science of material selection in product design. Elsevier Editora Ltda, Rio de Janeiro (2011)Google Scholar
- 4.Bishop, C.M.: Pattern recognition. Machine Learning (2006)Google Scholar
- 6.Martins, L.T., Guerra, R.D.S., Tatsch, C., Maciel, E.H., Gerndt, R.: Polyurethane-based modular series elastic upgrade to a robotics actuator. In: Proceedings of the Robot Soccer World Cup XVIII (2015)Google Scholar
- 9.Pratt, G., Williamson, M.: Human robot interaction and cooperative robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp 399–406 (1995)Google Scholar
- 10.Rumelhart, D.E., Hinton, G.E., Williams, R.J.: Learning internal representations by error propagation. Tech. rep., DTIC Document (1985)Google Scholar