Bimanual Robot
Hardware and software of a 12-DoF cobot with grippers (2022)
Based on the previous robotics project, we developed a 12-degree-of-freedom (DoF) collaborative robot (cobot) in 2022. It has a pair of force-controlled robotic arms, each of which has 6 DoFs and is equipped with a robotic gripper.
Project members:
- Mechanics: Terry Cavan Chan, Xinyu Jia, Haotian Guo.
- Electronics / Software / Algorithm: Xinyu Jia.
The robotic arm is mounted on the body with an inclination of 45° to avoid singularity near frequently used configurations.
We design several sizes of grippers for different scenerios. The fingers are underactuated and assembled with tactile sensors. For more information, please refer to my colleague Haotian Guo’s paper.
The robot also has eyes (ZED 2 stereo camera) and a 2-DoF neck (DYNAMIXEL MX-106R motor). It shares a similar configuration with its predecessor in terms of electronics and software.
We validate the control algorithm in CoppeliaSim and on real hardware. More demo videos are in preparation.