engineering

ARM

  • Harmonic Drive® based design

  • Custom motor for best integration

  • Integrated module electronics

  • Integrated torque sensor

    • Capacitive for easy assembly

  • Motor encoder

    • High-resolution magnetic encoder

    • 15 bit resolution

  • Output absolute encoder

    • MPS magnetic encoder

    • 12 bit resolution

  • 0.4 x 0.4 m workspace in front of robot

  • Links 0.3 x 0.3 x 0.1 m upper arm x forearm x grip offset

  • Direct drive large diameter wheels

    • Kt = .76 Nm/A, 20 A peak

    • High resolution encoder - IC Haus iC-MU magnetic

  • 36V nominal lithium ion battery, 155 Wh

  • Basket for items

  • Camera

  • Computer - Jetson nano

  • Approximate footprint 600 x 500 WxL

  • Large rear caster for navigating outdoors and for sizable obstacles

BASE

Grip

 

  • Modular

Software

  • Mid-level software, custom 2 kHz real-time loop designed for operation around people: github.com/unhuman-io/freebot-realtime

    • Gravity compensation

    • Cartesian impedance control or

    • Inverse kinematics with joint torque limits

  • High level software. We provide a scripts and functionality to run robot cameras and use a gamepad to control the robot remotely: github.com/unhuman-io/obot