Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

Humanoids 2024: 22–24 November 2024, NANCY, FRANCE

Enjoy today’s videos!

Just when I thought quadrupeds couldn’t impress me anymore...

[ Unitree Robotics ]

Researchers at Meta FAIR are releasing several new research artifacts that advance robotics and support our goal of reaching advanced machine intelligence (AMI). These include Meta Sparsh, the first general-purpose encoder for vision-based tactile sensing that works across many tactile sensors and many tasks; Meta Digit 360, an artificial fingertip-based tactile sensor that delivers detailed touch data with human-level precision and touch-sensing; and Meta Digit Plexus, a standardized platform for robotic sensor connections and interactions that enables seamless data collection, control and analysis over a single cable.

[ Meta ]

The first bimanual Torso created at Clone includes an actuated elbow, cervical spine (neck), and anthropomorphic shoulders with the sternoclavicular, acromioclavicular, scapulothoracic and glenohumeral joints. The valve matrix fits compactly inside the ribcage. Bimanual manipulation training is in progress.

[ Clone Inc. ]

Equipped with a new behavior architecture, Nadia navigates and traverses many types of doors autonomously. Nadia also demonstrates robustness to failed grasps and door opening attempts by automatically retrying and continuing. We present the robot with pull and push doors, four types of opening mechanisms, and even spring-loaded door closers. A deep neural network and door plane estimator allow Nadia to identify and track the doors.

[ Paper preprint by authors from Florida Institute for Human and Machine Cognition ]

Thanks, Duncan!

In this study, we integrate the musculoskeletal humanoid Musashi with the wire-driven robot CubiX, capable of connecting to the environment, to form CubiXMusashi. This combination addresses the shortcomings of traditional musculoskeletal humanoids and enables movements beyond the capabilities of other humanoids. CubiXMusashi connects to the environment with wires and drives by winding them, successfully achieving movements such as pull-up, rising from a lying pose, and mid-air kicking, which are difficult for Musashi alone.

[ CubiXMusashi, JSK Robotics Laboratory, University of Tokyo ]

Thanks, Shintaro!

An old boardwalk seems like a nightmare for any robot with flat feet.

[ Agility Robotics ]

This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or complete pose targets that are spaced arbitrarily in time. Our proposed framework utilizes a multi-critic reinforcement learning algorithm to effectively handle the mixture of dense and sparse rewards. In the experiments, the multi-critic method significantly reduces the effort of hyperparameter tuning compared to the standard single-critic alternative. Moreover, the proposed transformer-based architecture enables robots to anticipate future goals, which results in quantitative improvements in their ability to reach their targets.

[ Disney Research paper ]

Human-like walking where that human is the stompiest human to ever human its way through Humanville.

[ Engineai ]

We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous flight in unknown environments is difficult in part due to the sensor limitations of traditional onboard cameras. Event cameras, however, promise nearly zero motion blur and high dynamic range, but produce a large volume of events under significant ego-motion and further lack a continuous-time sensor model in simulation, making direct sim-to-real transfer not possible.

[ Paper University of Pennsylvania and University of Zurich ]

Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents LEGATO, a cross-embodiment imitation learning framework for visuomotor skill transfer across varied kinematic morphologies. We introduce a handheld gripper that unifies action and observation spaces, allowing tasks to be defined consistently across robots.

[ LEGATO ]

The 2024 Xi’an Marathon has kicked off! STAR1, the general-purpose humanoid robot from Robot Era, joins runners in this ancient yet modern city for an exciting start!

[ Robot Era ]

In robotics, there are valuable lessons for students and mentors alike. Watch how the CyberKnights, a FIRST robotics team champion sponsored by RTX, with the encouragement of their RTX mentor, faced challenges after a poor performance and scrapped its robot to build a new one in just nine days.

[ CyberKnights ]

In this special video, PAL Robotics takes you behind the scenes of our 20th-anniversary celebration, a memorable gathering with industry leaders and visionaries from across robotics and technology. From inspiring speeches to milestone highlights, the event was a testament to our journey and the incredible partnerships that have shaped our path.

[ PAL Robotics ]

Thanks, Rugilė!

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

Humanoids 2024: 22–24 November 2024, NANCY, FRANCE

Enjoy today’s videos!

Swiss-Mile’s robot (which is really any robot that meets the hardware requirement to run their software) is faster than “most humans.” So what does that mean, exactly?

The winner here is Riccardo Rancan, who doesn’t look like he was trying especially hard—he’s the world champion in high-speed urban orienteering, which is a sport that I did not know existed but sounds pretty awesome.

[ Swiss-Mile ]

Thanks, Marko!

Oh good, we’re building giant fruit fly robots now.

But seriously, this is useful and important research because understanding the relationship between a nervous system and a bunch of legs can only be helpful as we ask more and more of legged robotic platforms.

[ Paper ]

Thanks, Clarus!

Watching humanoids get up off the ground will never not be fascinating.

[ Fourier ]

The Kepler Forerunner K2 represents the Gen 5.0 robot model, showcasing a seamless integration of the humanoid robot’s cerebral, cerebellar, and high-load body functions.

[ Kepler ]

Diffusion Forcing combines the strength of full-sequence diffusion models (like SORA) and next-token models (like LLMs), acting as either or a mix at sampling time for different applications without retraining.

[ MIT ]

Testing robot arms for space is no joke.

[ GITAI ]

Welcome to the Modular Robotics Lab (ModLab), a subgroup of the GRASP Lab and the Mechanical Engineering and Applied Mechanics Department at the University of Pennsylvania under the supervision of Prof. Mark Yim.

[ ModLab ]

This is much more amusing than it has any right to be.

[ Westwood Robotics ]

Let’s go for a walk with Adam at IROS’24!

[ PNDbotics ]

From Reachy 1 in 2023 to our newly launched Reachy 2, our grippers have been designed to enhance precision and dexterity in object manipulation. Some of the models featured in the video are prototypes used for various tests, showing the innovation behind the scenes.

[ Pollen ]

I’m not sure how else you’d efficiently spray the tops of trees? Drones seem like a no-brainer here.

[ SUIND ]

Presented at ICRA40 in Rotterdam, we show the challenges faced by mobile manipulation platforms in the field. We at CSIRO Robotics are working steadily towards a collaborative approach to tackle such challenging technical problems.

[ CSIRO ]

ABB is best known for arms, but it looks like they’re exploring AMRs (autonomous mobile robots) for warehouse operations now.

[ ABB ]

Howie Choset, Lu Li, and Victoria Webster-Wood of the Manufacturing Futures Institute explain their work to create specialized sensors that allow robots to “feel” the world around them.

[ CMU ]

Columbia Engineering Lecture Series in AI: “How Could Machines Reach Human-Level Intelligence?” by Yann LeCun.

Animals and humans understand the physical world, have common sense, possess a persistent memory, can reason, and can plan complex sequences of subgoals and actions. These essential characteristics of intelligent behavior are still beyond the capabilities of today’s most powerful AI architectures, such as Auto-Regressive LLMs.
I will present a cognitive architecture that may constitute a path towards human-level AI. The centerpiece of the architecture is a predictive world model that allows the system to predict the consequences of its actions. and to plan sequences of actions that that fulfill a set of objectives. The objectives may include guardrails that guarantee the system’s controllability and safety. The world model employs a Joint Embedding Predictive Architecture (JEPA) trained with self-supervised learning, largely by observation.

[ Columbia ]

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ROSCon 2024: 21–23 October 2024, ODENSE, DENMARK

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Humanoids 2024: 22–24 November 2024, NANCY, FRANCE

Enjoy today’s videos!

One of the most venerable (and recognizable) mobile robots ever made, the Husky, has just gotten a major upgrade.

Shipping early next year.

[ Clearpath Robotics ]

MAB Robotics is developing legged robots for the inspection and maintenance of industrial infrastructure. One of the initial areas for deploying this technology is underground infrastructure, such as water and sewer canals. In these environments, resistance to factors like high humidity and working underwater is essential. To address these challenges, the MAB team has built a walking robot capable of operating fully submerged, based on exceptional self-developed robotics actuators. This innovation overcomes the limitations of current technologies, offering MAB’s first clients a unique service for trenchless inspection and maintenance tasks.

[ MAB Robotics ]

Thanks, Jakub!

The G1 robot can perform a standing long jump of up to 1.4 meters, possibly the longest jump ever achieved by a humanoid robot of its size in the world, standing only 1.32 meters tall.

[ Unitree Robotics ]

Apparently, you can print out a functional four-fingered hand on an inkjet.

[ UC Berkeley ]

We present SDS (``See it. Do it. Sorted’), a novel pipeline for intuitive quadrupedal skill learning from a single demonstration video leveraging the visual capabilities of GPT-4o. We validate our method on the Unitree Go1 robot, demonstrating its ability to execute variable skills such as trotting, bounding, pacing, and hopping, achieving high imitation fidelity and locomotion stability.

[ Robot Perception Lab, University College London ]

You had me at “3D desk octopus.”

[ UIST 2024 ACM Symposium on User Interface Software and Technology ]

Top-notch swag from Dusty Robotics

[ Dusty Robotics ]

I’m not sure how serious this shoes-versus-no-shoes test is, but it’s an interesting result nonetheless.

[ Robot Era ]

Thanks, Ni Tao!

Introducing TRON 1, the first multimodal biped robot! With its innovative “Three-in-One” modular design, TRON 1 can easily switch among Point-Foot, Sole, and Wheeled foot ends.

[ LimX Dynamics ]

Recent works in the robot-learning community have successfully introduced generalist models capable of controlling various robot embodiments across a wide range of tasks, such as navigation and locomotion. However, achieving agile control, which pushes the limits of robotic performance, still relies on specialist models that require extensive parameter tuning. To leverage generalist-model adaptability and flexibility while achieving specialist-level agility, we propose AnyCar, a transformer-based generalist dynamics model designed for agile control of various wheeled robots.

[ AnyCar ]

Discover the future of aerial manipulation with our untethered soft robotic platform with onboard perception stack! Presented at the 2024 Conference on Robot Learning, in Munich, this platform introduces autonomous aerial manipulation that works in both indoor and outdoor environments—without relying on costly off-board tracking systems.

[ Paper ] via [ ETH Zurich Soft Robotics Laboratory ]

Deploying perception modules for human-robot handovers is challenging because they require a high degree of reactivity, generalizability, and robustness to work reliably for diverse cases. Here, we show hardware handover experiments using our efficient and object-agnostic real-time tracking framework, specifically designed for human-to-robot handover tasks with legged manipulators.

[ Paper ] via [ ETH Zurich Robotic Systems Lab ]

Azi and Ameca are killing time, but Azi struggles being the new kid around. Engineered Arts desktop robots feature 32 actuators, 27 for facial control alone, and 5 for the neck. They include AI conversational ability including GPT-4o support, which makes them great robotic companions, even to each other. The robots are following a script for this video, using one of their many voices.

[ Engineered Arts ]

Plato automates carrying and transporting, giving your staff more time to focus on what really matters, improving their quality of life. With a straightforward setup that requires no markers or additional hardware, Plato is incredibly intuitive to use—no programming skills needed.

[ Aldebaran ]

This UPenn GRASP Lab seminar is from Antonio Loquercio, on “Simulation: What made us intelligent will make our robots intelligent.”

Simulation-to-reality transfer is an emerging approach that enables robots to develop skills in simulated environments before applying them in the real world. This method has catalyzed numerous advancements in robotic learning, from locomotion to agile flight. In this talk, I will explore simulation-to-reality transfer through the lens of evolutionary biology, drawing intriguing parallels with the function of the mammalian neocortex. By reframing this technique in the context of biological evolution, we can uncover novel research questions and explore how simulation-to-reality transfer can evolve from an empirically driven process to a scientific discipline.

[ University of Pennsylvania ]

Today, Boston Dynamics and the Toyota Research Institute (TRI) announced a new partnership “to accelerate the development of general-purpose humanoid robots utilizing TRI’s Large Behavior Models and Boston Dynamics’ Atlas robot.” Committing to working towards a general purpose robot may make this partnership sound like a every other commercial humanoid company right now, but that’s not at all that’s going on here: BD and TRI are talking about fundamental robotics research, focusing on hard problems, and (most importantly) sharing the results.

The broader context here is that Boston Dynamics has an exceptionally capable humanoid platform capable of advanced and occasionally painful-looking whole-body motion behaviors along with some relatively basic and brute force-y manipulation. Meanwhile, TRI has been working for quite a while on developing AI-based learning techniques to tackle a variety of complicated manipulation challenges. TRI is working toward what they’re calling large behavior models (LBMs), which you can think of as analogous to large language models (LLMs), except for robots doing useful stuff in the physical world. The appeal of this partnership is pretty clear: Boston Dynamics gets new useful capabilities for Atlas, while TRI gets Atlas to explore new useful capabilities on.

Here’s a bit more from the press release:

The project is designed to leverage the strengths and expertise of each partner equally. The physical capabilities of the new electric Atlas robot, coupled with the ability to programmatically command and teleoperate a broad range of whole-body bimanual manipulation behaviors, will allow research teams to deploy the robot across a range of tasks and collect data on its performance. This data will, in turn, be used to support the training of advanced LBMs, utilizing rigorous hardware and simulation evaluation to demonstrate that large, pre-trained models can enable the rapid acquisition of new robust, dexterous, whole-body skills.

The joint team will also conduct research to answer fundamental training questions for humanoid robots, the ability of research models to leverage whole-body sensing, and understanding human-robot interaction and safety/assurance cases to support these new capabilities.

For more details, we spoke with Scott Kuindersma (Senior Director of Robotics Research at Boston Dynamics) and Russ Tedrake (VP of Robotics Research at TRI).

How did this partnership happen?

Russ Tedrake: We have a ton of respect for the Boston Dynamics team and what they’ve done, not only in terms of the hardware, but also the controller on Atlas. They’ve been growing their machine learning effort as we’ve been working more and more on the machine learning side. On TRI’s side, we’re seeing the limits of what you can do in tabletop manipulation, and we want to explore beyond that.

Scott Kuindersma: The combination skills and tools that TRI brings the table with the existing platform capabilities we have at Boston Dynamics, in addition to the machine learning teams we’ve been building up for the last couple years, put us in a really great position to hit the ground running together and do some pretty amazing stuff with Atlas.

What will your approach be to communicating your work, especially in the context of all the craziness around humanoids right now?

Tedrake: There’s a ton of pressure right now to do something new and incredible every six months or so. In some ways, it’s healthy for the field to have that much energy and enthusiasm and ambition. But I also think that there are people in the field that are coming around to appreciate the slightly longer and deeper view of understanding what works and what doesn’t, so we do have to balance that.

The other thing that I’d say is that there’s so much hype out there. I am incredibly excited about the promise of all this new capability; I just want to make sure that as we’re pushing the science forward, we’re being also honest and transparent about how well it’s working.

Kuindersma: It’s not lost on either of our organizations that this is maybe one of the most exciting points in the history of robotics, but there’s still a tremendous amount of work to do.

What are some of the challenges that your partnership will be uniquely capable of solving?

Kuindersma: One of the things that we’re both really excited about is the scope of behaviors that are possible with humanoids—a humanoid robot is much more than a pair of grippers on a mobile base. I think the opportunity to explore the full behavioral capability space of humanoids is probably something that we’re uniquely positioned to do right now because of the historical work that we’ve done at Boston Dynamics. Atlas is a very physically capable robot—the most capable humanoid we’ve ever built. And the platform software that we have allows for things like data collection for whole body manipulation to be about as easy as it is anywhere in the world.

Tedrake: In my mind, we really have opened up a brand new science—there’s a new set of basic questions that need answering. Robotics has come into this era of big science where it takes a big team and a big budget and strong collaborators to basically build the massive data sets and train the models to be in a position to ask these fundamental questions.

Fundamental questions like what?

Tedrake: Nobody has the beginnings of an idea of what the right training mixture is for humanoids. Like, we want to do pre-training with language, that’s way better, but how early do we introduce vision? How early do we introduce actions? Nobody knows. What’s the right curriculum of tasks? Do we want some easy tasks where we get greater than zero performance right out of the box? Probably. Do we also want some really complicated tasks? Probably. We want to be just in the home? Just in the factory? What’s the right mixture? Do we want backflips? I don’t know. We have to figure it out.

There are more questions too, like whether we have enough data on the Internet to train robots, and how we could mix and transfer capabilities from Internet data sets into robotics. Is robot data fundamentally different than other data? Should we expect the same scaling laws? Should we expect the same long-term capabilities?

The other big one that you’ll hear the experts talk about is evaluation, which is a major bottleneck. If you look at some of these papers that show incredible results, the statistical strength of their results section is very weak and consequently we’re making a lot of claims about things that we don’t really have a lot of basis for. It will take a lot of engineering work to carefully build up empirical strength in our results. I think evaluation doesn’t get enough attention.

What has changed in robotics research in the last year or so that you think has enabled the kind of progress that you’re hoping to achieve?

Kuindersma: From my perspective, there are two high-level things that have changed how I’ve thought about work in this space. One is the convergence of the field around repeatable processes for training manipulation skills through demonstrations. The pioneering work of diffusion policy (which TRI was a big part of) is a really powerful thing—it takes the process of generating manipulation skills that previously were basically unfathomable, and turned it into something where you just collect a bunch of data, you train it on an architecture that’s more or less stable at this point, and you get a result.

The second thing is everything that’s happened in robotics-adjacent areas of AI showing that data scale and diversity are really the keys to generalizable behavior. We expect that to also be true for robotics. And so taking these two things together, it makes the path really clear, but I still think there are a ton of open research challenges and questions that we need to answer.

Do you think that simulation is an effective way of scaling data for robotics?

Tedrake: I think generally people underestimate simulation. The work we’ve been doing has made me very optimistic about the capabilities of simulation as long as you use it wisely. Focusing on a specific robot doing a specific task is asking the wrong question; you need to get the distribution of tasks and performance in simulation to be predictive of the distribution of tasks and performance in the real world. There are some things that are still hard to simulate well, but even when it comes to frictional contact and stuff like that, I think we’re getting pretty good at this point.

Is there a commercial future for this partnership that you’re able to talk about?

Kuindersma: For Boston Dynamics, clearly we think there’s long-term commercial value in this work, and that’s one of the main reasons why we want to invest in it. But the purpose of this collaboration is really about fundamental research—making sure that we do the work, advance the science, and do it in a rigorous enough way so that we actually understand and trust the results and we can communicate that out to the world. So yes, we see tremendous value in this commercially. Yes, we are commercializing Atlas, but this project is really about fundamental research.

What happens next?

Tedrake: There are questions at the intersection of things that BD has done and things that TRI has done that we need to do together to start, and that’ll get things going. And then we have big ambitions—getting a generalist capability that we’re calling LBM (large behavior models) running on Atlas is the goal. In the first year we’re trying to focus on these fundamental questions, push boundaries, and write and publish papers.

I want people to be excited about watching for our results, and I want people to trust our results when they see them. For me, that’s the most important message for the robotics community: Through this partnership we’re trying to take a longer view that balances our extreme optimism with being critical in our approach.

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Humanoids 2024: 22–24 November 2024, NANCY, FRANCE

Enjoy today’s videos!

At ICRA 2024, we sat down with Pollen Robotics to talk about Reachy 2 O_o

[ Pollen Robotics ]

A robot pangolin designed to plant trees is the winner of the 2023 Natural Robotics Contest, which rewards robot designs inspired by nature. As the winning entry, the pangolin—dubbed “Plantolin”—has been brought to life by engineers at the University of Surrey in the United Kingdom. Out of 184 entries, the winning design came from Dorothy, a high school student from California.

Dr. Rob Siddall, a roboticist at the University of Surrey who built Plantolin, said, “In the wild, large animals will cut paths through the overgrowth and move seeds. This doesn’t happen nearly as much in urban areas like the South East of England—so there’s definitely room for a robot to help fill that gap. Dorothy’s brilliant design reminds us how we can solve some of our biggest challenges by looking to nature for inspiration.”

[ Plantolin ]

Our novel targeted throwing end-effector is designed to seamlessly integrate with drones and mobile manipulators. It utilizes elastic energy for efficient picking, placing, and throwing of objects, offering a versatile solution for industrial and warehouse applications. By combining a physics-based model with residual learning, it achieves increased accuracy in targeted throwing, even with previously unseen objects.

[ Throwing Manipulation, multimedia extension for IEEE Robotics and Automation Letters ]

Thanks, Nagamanikandan!

Control of off-road vehicles is challenging due to the complex dynamic interactions with the terrain. Accurate modeling of these interactions is important to optimize driving performance, but the relevant physical phenomena are too complex to model from first principles. Therefore, we present an offline meta-learning algorithm to construct a rapidly-tunable model of residual dynamics and disturbances. We evaluate our method outdoors on different slopes with varying slippage and actuator degradation disturbances, and compare against an adaptive controller that does not use the VFM terrain features.

[ Paper ]

Thanks, Sorina!

Corvus Robotics, a provider of autonomous inventory management systems, announced an updated version of its Corvus One system that brings, for the first time, the ability to fly its drone-powered system in a lights-out distribution center without any added infrastructure like reflectors, stickers, or beacons.

With obstacle detection at its core, the light-weight drone safely flies at walking speed without disrupting workflow or blocking aisles and can preventatively ascend to avoid collisions with people, forklifts, or robots, if necessary. Its advanced barcode scanning can read any barcode symbology in any orientation placed anywhere on the front of cartons or pallets.

[ Corvus Robotics ]

Thanks, Jackie!

The first public walking demo of a new humanoid from Under Control Robotics.

[ Under Control Robotics ]

The ability to accurately and rapidly identify key physiological signatures of injury – such as hemorrhage and airway injuries – proved key to success in the DARPA Triage Challenge Event 1. DART took the top spot in the Systems competition, while Coordinated Robotics topped the leaderboard in the Virtual competition and pulled off the win in the Data competition. All qualified teams are eligible for prizes in the Final Event. These self-funded teams won between $60,000 - $120,000 each for their first-place finishes.

[ DARPA ]

The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is complex. We focused on reciprocal innervation in the human nervous system, and then implemented antagonist inhibition control (AIC) based on the reflex. To verify its effectiveness, we applied AIC to the upper limb of the tendon-driven musculoskeletal humanoid, Kengoro, and succeeded in dangling for 14 minutes and doing pull-ups.

That is also how I do pull-ups.

[ Jouhou System Kougaku Laboratory, University of Tokyo ]

Thanks, Kento!

On June 5, 2024 Digit completed it’s first day of work for GXO Logistics, Inc. as part of regular operations. This is the result of a multi-year agreement between GXO and Agility Robotics to begin deploying Digit in GXO’s logistics operations. This agreement, which follows a proof-of-concept pilot in late 2023, is both the industry’s first formal commercial deployment of humanoid robots and first Robots-as-a-Service (RaaS) deployment of humanoid robots.

[ Agility Robotics ]

Although there is a growing demand for cooking behaviours as one of the expected tasks for robots, a series of cooking behaviours based on new recipe descriptions by robots in the real world has not yet been realised. In this study, we propose a robot system that integrates real-world executable robot cooking behaviour planning using the Large Language Model (LLM) and classical planning of PDDL descriptions, and food ingredient state recognition learning from a small number of data using the Vision-Language model (VLM).

[ JSK Robotics Laboratory, University of Tokyo GitHub ]

Thanks, Naoaki!

This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped robots with on-device sensing and wireless control, which offer lightweight portability and scalability. Applications include augmented card playing, educational tools, and assistive technology, which showcase CARDinality’s versatility in tangible interaction.

[ AxLab Actuated Experience Lab, University of Chicago ]

Azi reacts in full AI to the scripted skit it did with Ameca.

Azi uses 32 actuators, with 27 to control its silicone face, and 5 for the neck. It uses GPT-4o with a customisable personality.

[ Engineered Arts ]

We are testing a system that includes robots, structural building blocks, and smart algorithms to build large-scale structures for future deep space exploration. In this video, autonomous robots worked as a team to transport material in a mock rail system and simulate a build of a tower at our Roverscape.

[ NASA Ames Research Center ]

In the summer of 2024 HEBI’s intern Aditya Nair worked to add new use-case demos, and improve quality and consistency of the existing demos for our robotic arms! In this video you can see teach and report, augmented reality, gravity compensation, and impedance control gimbal for our robotic arms.

[ HEBI Robotics ]

This video showcases cutting-edge innovations and robotic demonstrations from the Reconfigurable Robotics Lab (RRL) at EPFL. As we are closing the semester, this event brings together the exciting progress and breakthroughs made by our researchers and students over the past months. In this video, you’ll experience a collection of exciting demonstrations, featuring the latest in reconfigurable, soft, and modular robotics, aimed at tackling real-world challenges.

[ EPFL Reconfigurable Robotics Lab ]

Humanoid robot companies are promising that humanoids will fast become our friends, colleagues, employees, and the backbone of our workforce. But how close are we to this reality? What are the key costs associated with operating a humanoid? Can companies deploy them profitably? Will humanoids take our jobs, and if so, what should we be doing to prepare?

[ Human Robot Interaction Podcast ]

According to Web of Science, there have been 1,147,069 publications from 2003 to 2023 that fell under their category of “Computer Science, Artificial Intelligence.” During the same time period, 217,507 publications fell under their “Robotics” category, about 1/5th of the volume. On top of that, Canada’s published Science, Technology, and Innovation Priorities has AI at the top of the “Technology Advanced Canada” list, but robotics is not even listed. AI has also engaged the public’s imagination more so than robotics with “AI” dominating Google Search trends compared to “robotics.” This has us questioning: “Is AI Skyrocketing while Robotics Inches Forward?”

[ Ingenuity Labs RAIS2024 Robotics Debate ]

I’ve been reviewing robot vacuums for more than a decade, and robot mops for just as long. It’s been astonishing how the technology has evolved, from the original iRobot Roomba bouncing off of walls and furniture to robots that use lidar and vision to map your entire house and intelligently keep it clean.

As part of this evolution, cleaning robots have become more and more hands-off, and most of them are now able to empty themselves into occasionally enormous docks with integrated vacuums and debris bags. This means that your robot can vacuum your house, empty itself, recharge, and repeat this process until the dock’s dirt bag fills up.

But this all breaks down when it comes to robots that both vacuum and mop. Mopping, which is a capability that you definitely want if you have hard floors, requires a significant amount of clean water and generates an equally significant amount of dirty water. One approach is to make docks that are even more enormous—large enough to host tanks for clean and dirty water that you have to change out on a weekly basis.

SwitchBot, a company that got its start with a stick-on robotic switch that can make dumb things with switches into smart things, has been doing some clever things in the robotic vacuum space as well, and we’ve been taking a look at the SwitchBot S10, which hooks up to your home plumbing to autonomously manage all of its water needs. And I have to say, it works so well that it feels inevitable: this is the future of home robots.

A Massive Mopping Vacuum

The giant dock can collect debris from the robot for months, and also includes a hot air dryer for the roller mop.Evan Ackerman/IEEE Spectrum

The SwitchBot S10 is a hybrid robotic vacuum and mop that uses a Neato-style lidar system for localization and mapping. It’s also got a camera on the front to help it with obstacle avoidance. The mopping function uses a cloth-covered spinning roller that adds clean water and sucks out dirty water on every rotation. The roller lifts automatically when the robot senses that it’s about to move onto carpet. The S10 comes with a charging dock with an integrated vacuum and dust collection system, and there’s also a heated mop cleaner underneath, which is a nice touch.

I’m not going to spend a lot of time analyzing the S10’s cleaning performance. From what I can tell, it does a totally decent job vacuuming, and the mopping is particularly good thanks to the roller mop that exerts downward pressure on the floor while spinning. Just about any floor cleaning robot is going to do a respectable job with the actual floor cleaning—it’s all the other stuff, like software and interface and ease of use, that have become more important differentiators.

Home Plumbing Integration

The water dock, seen here hooked up to my toilet and sink, exchanges dirty water out of the robot and includes an option to add cleaning fluid.Evan Ackerman/IEEE Spectrum

The S10’s primary differentiator is that it integrates with your home plumbing. It does this through a secondary dock—there’s the big charging dock, which you can put anywhere, and then the much smaller water dock, which is small enough to slide underneath an average toe-kick in a kitchen.

The dock includes a pumping system that accesses clean water through a pressurized water line, and then squirts dirty water out into a drain. The best place to find this combination of fixtures is near a sink with a p-trap, and if this is already beyond the limits of your plumbing knowledge, well, that’s the real challenge with the S10. The S10 is very much not plug-and-play; to install the water dock, you should be comfortable with basic tool use and, more importantly, have some faith in the integrity of your existing plumbing.

My house was built in the early 1960s, which means that a lot of my plumbing consists of old copper with varying degrees of corrosion and mineral infestation, along with slightly younger but somewhat brittle PVC. Installing the clean water line for the dock involves temporarily shutting off the cold water line feeding a sink or a toilet—that is, turning off a valve that may not have been turned for a decade or more. This is risky, and the potential consequences of any uncontrolled water leak are severe, so know where your main water shutoff is before futzing with the dock installation.

To SwitchBot’s credit, the actual water dock installation process was very easy, thanks to a suite of connectors and adapters that come included. I installed my dock in between a toilet and a pedestal sink, with access to the toilet’s water valve for clean water and the sink’s p-trap for dirty water. The water dock is battery powered, and cleverly charges from the robot itself, so it doesn’t need a power outlet. Even so, this one spot was pretty much the only place in my entire house where the water dock could easily go: my other bathrooms have cabinet sinks, which would have meant drilling holes for the water lines, and neither of them had floor space where the dock could live without being kicked all the time. It’s not like the water dock is all that big, but it really needs to be out of the way, and it can be hard to find a compatible space.

Mediocre Mapping

With the dock set up, the next step is mapping. The mapping process with the S10 was a bit finicky. I spent a bunch of time prepping my house—that is, moving as much furniture as possible off of the floor to give the robot the best chance at making a solid map. I know this isn’t something that most people probably do for their robots, but knowing robots like I do, I figure that getting a really good map is worth the hassle in the long run.

The first mapping run completed in about 20 minutes, but the robot got “stuck” on the way back to its dock thanks to a combination of a bit of black carpet and black coffee table legs. I rescued it, but it promptly forgot its map, and I had to start again. The second time, the robot failed to map my kitchen, dining room, laundry room, and one bathroom by not going through a wide open doorway off of the living room. This was confusing, because I could see the unexplored area on the map, and I’m not sure why the robot decided to call it a day rather than investigating that pretty obvious frontier region.

SwitchBot is not terrible at mapping, but it’s definitely sub-par relative to the experiences that I’ve had with older generations of other robots. The S10 also intermittently freaked out on the black patterned carpet that I have: moving very cautiously, spinning in circles, and occasionally stopping completely while complaining about malfunctioning cliff sensors, presumably because my carpet was absorbing all of the infrared from its cliff sensors while it was trying to map.

Black carpet, terror of robots everywhere.Evan Ackerman/IEEE Spectrum

Part of my frustration here is that I feel like I should be able to tell the robot “it’s a black carpet in that spot, you’re fine,” rather than taking such drastic measures as taping over all of the cliff sensors with tin foil, which I’ve had to do on occasion. And let me tell you how overjoyed I was to discover that the S10’s map editor has that exact option. You can also segment rooms by hand, and even position furniture to give the robot a clue on what kind of obstacles to expect. What’s missing is some way of asking the robot to explore a particular area over again, which would have made the initial process a lot easier.

Would a smarter robot be able to figure out all of this stuff on its own? Sure. But robots are dumb, and being able to manually add carpets and furniture and whatnot is an incredibly useful feature, I just wish I could do that during the mapping run somehow instead of having to spend a couple of hours getting that first map to work. Oh well.

How the SwitchBot S10 Cleans

When you ask the S10 to vacuum and mop, it leaves its charging dock and goes to the water dock. Once it docks there, it will extract any dirty water, clean its roller mop, extract the dirty water, wash its filter, and then finally refill itself with clean water before heading off to start mopping. It may do this several times over the course of a cleaning run, depending on how much water you ask it to use, but it’s quite good at managing all of this by itself. If you would like your floor to be extra clean, you can have the robot make two passes over the same area, which it does in a crosshatch pattern. And the app helpfully clues you in to everything that the robot is doing, including real-time position.

The app does and excellent job of showing where the robot has cleaned. You can also add furniture and floor types to help the robot clean better.Evan Ackerman/IEEE Spectrum

I’m pleasantly surprised by my experience with the S10 and the water dock. It was relatively easy to install and works exactly as it should. This is getting very close to the dream for robot vacuums, right? I will never have to worry about clean water tanks or dirty water tanks. The robot can mop every day if I want it to, and I don’t ever have to think about it, short of emptying the charging dock’s dustbin every few months and occasionally doing some basic robot maintenance.

SwitchBot’s Future

Being able to access water on-demand for mopping is pretty great, but the S10’s water dock is about more than that. SwitchBot already has plans for a humidifier and dehumidifier, which can be filled and emptied with the S10 acting as a water shuttle. And the dehumidifier can even pull water out of the air and then the S10 can use that water to mop, which is pretty cool. I can think of two other applications for a water shuttle that are immediately obvious: pets, and plants.

SwitchBot is already planning for more ways of using the S10’s water transporting capability.SwitchBot

What about a water bowl for your pets that you can put anywhere in your house, and it’s always full of fresh water, thanks to a robot that not only tops the water off, but changes it completely? Or a little plant-sized dock that lives on the floor with a tube up to the pot of your leafy friend for some botanical thirst quenching? Heck, I have an entire fleet of robotic gardens that would love to be tended by a mobile water delivery system.

SwitchBot is not the only company to offer plumbing integration for home robots. Narwal and Roborock also have options for plumbing add-on kits to their existing docks, although they seem to be designed more for European or Asian homes where home plumbing tends to be designed a bit differently. And besides the added complication of systems like these, you’ll pay a premium for them: the SwitchBot S10 can cost as much as $1200, although it’s frequently on sale for less. As with all new features for floor care robots, though, you can expect the price to drop precipitously over the next several years as new features become standard, and I hope plumbing integration gets there soon, because I’m sold.

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Humanoids 2024: 22–24 November 2024, NANCY, FRANCE

Enjoy today’s videos!

Not even ladders can keep you safe from quadruped robots anymore.

[ ETH Zürich Robot Systems Lab ]

Introducing Azi (right), the new desktop robot from Engineered Arts Ltd. Azi and Ameca are having a little chat, demonstrating their wide range of expressive capabilities. Engineered Arts desktop robots feature 32 actuators, 27 for facial control alone, and 5 for the neck. They include AI conversational ability including GPT-4o support which makes them great robotic companions.

[ Engineered Arts ]

Quadruped robots that individual researchers can build by themselves are crucial for expanding the scope of research due to their high scalability and customizability. In this study, we develop a metal quadruped robot MEVIUS, that can be constructed and assembled using only materials ordered through e-commerce. We have considered the minimum set of components required for a quadruped robot, employing metal machining, sheet metal welding, and off-the-shelf components only.

[ MEVIUS from JSK Robotics Laboratory ]

Thanks Kento!

Avian perching maneuvers are one of the most frequent and agile flight scenarios, where highly optimized flight trajectories, produced by rapid wing and tail morphing that generate high angular rates and accelerations, reduce kinetic energy at impact. Here, we use optimal control methods on an avian-inspired drone with morphing wing and tail to test a recent hypothesis derived from perching maneuver experiments of Harris’ hawks that birds minimize the distance flown at high angles of attack to dissipate kinetic energy before impact.

[ EPFL Laboratory of Intelligent Systems ]

The earliest signs of bearing failures are inaudible to you, but not to Spot . Introducing acoustic vibration sensing—Automate ultrasonic inspections of rotating equipment to keep your factory humming.

The only thing I want to know is whether Spot is programmed to actually do that cute little tilt when using its acoustic sensors.

[ Boston Dynamics ]

Hear from Jonathan Hurst, our co-founder and Chief Robot Officer, why legs are ideally suited for Digit’s work.

[ Agility Robotics ]

I don’t think “IP67” really does this justice.

[ ANYbotics ]

This paper presents a teleportation system with floating robotic arms that traverse parallel cables to perform long-distance manipulation. The system benefits from the cable-based infrastructure, which is easy to set up and cost-effective with expandable workspace range.

[ EPFL ]

It seems to be just renderings for now, but here’s the next version of Fourier’s humanoid.

[ Fourier ]

Happy Oktoberfest from Dino Robotics!

[ Dino Robotics ]

This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation learning and reinforcement learning, creating a fast-adapting and general control framework for quadcopters that eliminates the need for precise model estimation or manual tuning.

[ HiPeR Lab ]

Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual policies, from depth pixels to robot control commands, to achieve agile and safe quadruped locomotion.

[ SoloParkour ]

Where’s your flying car? I’m sorry to say that I have no idea. But here’s something that is somewhat similar, in that it flies, transports things, and has “car” in the name: it’s a flying cart, called the Palletrone (pallet+drone), designed for human-robot interaction-based aerial cargo transportation.

The way this thing works is fairly straightforward. The Palletrone will try to keep its roll and pitch at zero, to make sure that there’s a flat and stable platform for your preciouses, even if you don’t load those preciouses onto the drone evenly. Once loaded up, the drone relies on you to tell it where to go and what to do, using its IMU to respond to the slightest touch and translating those forces into control over the Palletrone’s horizontal, vertical, and yaw trajectories. This is particularly tricky to do, because the system has to be able to differentiate between the force exerted by cargo, and the force exerted by a human, since if the IMU senses a force moving the drone downward, it could be either. But professor Seung Jae Lee tells us that they developed “a simple but effective method to distinguish between them.”

Since the drone has to do all of this sensing and movement without pitching or rolling (since that would dump its cargo directly onto the floor) it’s equipped with internal propeller arms that can be rotated to vector thrust in any direction. We were curious about how having a bunch of unpredictable stuff sitting right above those rotors might affect the performance of the drone. But Seung Jae Lee says that the drone’s porous side structures allow for sufficient airflow and that even when the entire top of the drone is covered, thrust is only decreased by about 5 percent.

The current incarnation of the Palletrone is not particularly smart, and you need to remain in control of it, although if you let it go it will do its best to remain stationary (until it runs out of batteries). The researchers describe the experience of using this thing as “akin to maneuvering a shopping cart,” although I would guess that it’s somewhat noisier. In the video, the Palletrone is loaded down with just under 3 kilograms of cargo, which is respectable enough for testing. The drone is obviously not powerful enough to haul your typical grocery bag up the stairs to your apartment. But, it’s a couple of steps in the right direction, at least.

We also asked Seung Jae Lee about how he envisions the Palletrone being used, besides as just a logistics platform for either commercial or industrial use. “By attaching a camera to the platform, it could serve as a flying tripod or even act as a dolly, allowing for flexible camera movements and angles,” he says. “This would be particularly useful in environments where specialized filming equipment is difficult to procure.”

And for those of you about to comment something along the lines of, “this can’t possibly have enough battery life to be real-world useful,” they’re already working to solve that, with a docking system that allows one Palletrone to change the battery of another in-flight:

One Palletrone swaps out the battery of a second Palletrone.Seoul Tech

“The Palletrone Cart: Human-Robot Interaction-Based Aerial Cargo Transportation,” by Geonwoo Park, Hyungeun Park, Wooyong Park, Dongjae Lee, Murim Kim, and Seung Jae Lee from Seoul National University of Science and Technology in Korea, is published in IEEE Robotics And Automation Letters.

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

Zipline has (finally) posted some real live footage of its new Platform 2 drone, and while it’s just as weird looking as before, it seems to actually work really well.

[ Zipline ]

I appreciate Disney Research’s insistence on always eventually asking, “okay, but can we get this to work on a real robot in the real world?”

[ Paper from ETH Zurich and Disney Research [PDF] ]

In this video, we showcase our humanoid robot, Nadia, being remotely controlled for boxing training using a simple VR motion capture setup. A remote user takes charge of Nadia’s movements, demonstrating the power of our advanced teleoperation system. Watch as Nadia performs precise boxing moves, highlighting the potential for humanoid robots in dynamic, real-world tasks.

[ IHMC ]

Guide dogs are expensive to train and maintain—if available at all. Because of these limiting factors, relatively few blind people use them. Computer science assistant professor Donghyun Kim and Ph.D candidate Hochul Hwang are hoping to change that with the help of UMass database analyst Gail Gunn and her guide dog, Brawny.

[ University of Massachusetts, Amherst ]

Thanks Julia!

The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. Our approach builds a large number of complex scenes in simulation, collects expert data from a motion planner, then distills it into a reactive generalist policy. We then combine this with lightweight optimization to obtain a safe path for real world deployment.

[ Neural MP ]

A nice mix of NAO and AI for embodied teaching.

[ Aldebaran ]

When retail and logistics giant Otto Group set out to strengthen its operational efficiency and safety, it turned to robotics and automation. The Otto Group has become the first company in Europe to deploy the mobile case handling robot Stretch, which unloads floor-loaded trailers and containers.

[ Boston Dynamics ]

From groceries to last-minute treats, Wing is here to make sure deliveries arrive quickly and safely. Our latest aircraft design features a larger, more standardized box and can carry a higher payload which came directly from customer and partner feedback.

[ Wing ]

It’s the jacket that gets me.

[ Devanthro ]

In this video, we introduce Rotograb, a robotic hand that merges the dexterity of human hands with the strength and efficiency of industrial grippers. Rotograb features a new rotating thumb mechanism, allowing for precision in-hand manipulation and power grasps while being adaptable. The robotic hand was developed by students during “Real World Robotics”, a master course by the Soft Robotics Lab at ETH Zurich.

[ ETH Zurich ]

A small scene where Rémi, our distinguished professor, is teaching chess to the person remotely operating Reachy! The grippers allow for easy and precise handling of chess pieces, even the small ones! The robot shown in this video is the Beta version of Reachy 2, our new robot coming very soon!

[ Pollen ]

Enhancing the adaptability and versatility of unmanned micro aerial vehicles (MAVs) is crucial for expanding their application range. In this article, we present a bimodal reconfigurable robot capable of operating in both regular quadcopter flight mode and a unique revolving flight mode, which allows independent control of the vehicle’s position and roll-pitch attitude.

[ City University Hong Kong ]

The Parallel Continuum Manipulator (PACOMA) is an advanced robotic system designed to replace traditional robotic arms in space missions, such as exploration, in-orbit servicing, and docking. Its design emphasizes robustness against misalignments and impacts, high precision and payload capacity, and sufficient mechanical damping for stable, controlled movements.

[ DFKI Robotics Innovation Center ]

Even the FPV pros from Team BlackSheep do, very occasionally, crash.

[ Team BlackSheep ]

This is a one-hour uninterrupted video of a robot cleaning bathrooms in real time. I’m not sure if it’s practical, but I am sure that it’s impressive, honestly.

[ Somatic ]

Four decades after the first IEEE International Conference on Robotics and Automation (ICRA) in Atlanta, robotics is bigger than ever. Next week in Rotterdam is the IEEE ICRA@40 conference, “a celebration of 40 years of pioneering research and technological advancements in robotics and automation.” There’s an ICRA every year, of course. Arguably the largest robotics research conference in the world, the 2024 edition was held in Yokohama, Japan back in May.

ICRA@40 is not just a second ICRA conference in 2024. Next week’s conference is a single track that promises “a journey through the evolution of robotics and automation,” through four days of short keynotes from prominent roboticists from across the entire field. You can see for yourself, the speaker list is nuts. There are also debates and panels tackling big ideas, like: “What progress has been made in different areas of robotics and automation over the past decades, and what key challenges remain?” Personally, I’d say “lots” and “most of them,” but that’s probably why I’m not going to be up on stage.

There will also be interactive research presentations, live demos, an expo, and more—the conference schedule is online now, and the abstracts are online as well. I’ll be there to cover it all, but if you can make it in person, it’ll be worth it.

Forty years ago is a long time, but it’s not that long, so just for fun, I had a look at the proceedings of ICRA 1984 which are available on IEEE Xplore, if you’re curious. Here’s an excerpt of the forward from the organizers, which included folks from International Business Machines and Bell Labs:

The proceedings of the first IEEE Computer Society International Conference on Robotics contains papers covering practically all aspects of robotics. The response to our call for papers has been overwhelming, and the number of papers submitted by authors outside the United States indicates the strong international interest in robotics.
The Conference program includes papers on: computer vision; touch and other local sensing; manipulator kinematics, dynamics, control and simulation; robot programming languages, operating systems, representation, planning, man-machine interfaces; multiple and mobile robot systems.
The technical level of the Conference is high with papers being presented by leading researchers in robotics. We believe that this conference, the first of a series to be sponsored by the IEEE, will provide a forum for the dissemination of fundamental research results in this fast developing field.

Technically, this was “ICR,” not “ICRA,” and it was put on by the IEEE Computer Society’s Technical Committee on Robotics, since there was no IEEE Robotics and Automation Society at that time; RAS didn’t get off the ground until 1987.

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

Researchers at the Max Planck Institute for Intelligent Systems and ETH Zurich have developed a robotic leg with artificial muscles. Inspired by living creatures, it jumps across different terrains in an agile and energy-efficient manner.

[ Nature ] via [ MPI ]

Thanks, Toshi!

ETH Zurich researchers have now developed a fast robotic printing process for earth-based materials that does not require cement. In what is known as “impact printing,” a robot shoots material from above, gradually building a wall. On impact, the parts bond together, and very minimal additives are required.

[ ETH Zurich ]

How could you not be excited to see this happen for real?

[ arXiv paper ]

Can we all agree that sanding, grinding, deburring, and polishing tasks are really best done by robots, for the most part?

[ Cohesive Robotics ]

Thanks, David!

Using doors is a longstanding challenge in robotics and is of significant practical interest in giving robots greater access to human-centric spaces. The task is challenging due to the need for online adaptation to varying door properties and precise control in manipulating the door panel and navigating through the confined doorway. To address this, we propose a learning-based controller for a legged manipulator to open and traverse through doors.

[ arXiv paper ]

Isaac is the first robot assistant that’s built for the home. And we’re shipping it in fall of 2025.

Fall of 2025 is a long enough time from now that I’m not even going to speculate about it.

[ Weave Robotics ]

By patterning liquid metal paste onto a soft sheet of silicone or acrylic foam tape, we developed stretchable versions of conventional rigid circuits (like Arduinos). Our soft circuits can be stretched to over 300% strain (over 4x their length) and are integrated into active soft robots.

[ Science Robotics ] via [ Yale ]

NASA’s Curiosity rover is exploring a scientifically exciting area on Mars, but communicating with the mission team on Earth has recently been a challenge due to both the current season and the surrounding terrain. In this Mars Report, Curiosity engineer Reidar Larsen takes you inside the uplink room where the team talks to the rover.

[ NASA ]

I love this and want to burn it with fire.

[ Carpentopod ]

Very often, people ask us what Reachy 2 is capable of, which is why we’re showing you the manipulation possibilities (through teleoperation) of our technology. The robot shown in this video is the Beta version of Reachy 2, our new robot coming very soon!

[ Pollen Robotics ]

The Scalable Autonomous Robots (ScalAR) Lab is an interdisciplinary lab focused on fundamental research problems in robotics that lie at the intersection of robotics, nonlinear dynamical systems theory, and uncertainty.

[ ScalAR Lab ]

Astorino is a 6-axis educational robot created for practical and affordable teaching of robotics in schools and beyond. It has been created with 3D printing, so it allows for experimentation and the possible addition of parts. With its design and programming, it replicates the actions of #KawasakiRobotics industrial robots, giving students the necessary skills for future work.

[ Astorino ]

I guess fish-fillet-shaping robots need to exist because otherwise customers will freak out if all their fish fillets are not identical, or something?

[ Flexiv ]

Watch the second episode of the ExoMars Rosalind Franklin rover mission—Europe’s ambitious exploration journey to search for past and present signs of life on Mars. The rover will dig, collect, and investigate the chemical composition of material collected by a drill. Rosalind Franklin will be the first rover to reach a depth of up to two meters below the surface, acquiring samples that have been protected from surface radiation and extreme temperatures.

[ ESA ]

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

The National Science Foundation Human AugmentatioN via Dexterity Engineering Research Center (HAND ERC) was announced in August 2024. Funded for up to 10 years and $52 million, the HAND ERC is led by Northwestern University, with core members Texas A&M, Florida A&M, Carnegie Mellon, and MIT, and support from Wisconsin-Madison, Syracuse, and an innovation ecosystem consisting of companies, national labs, and civic and advocacy organizations. HAND will develop versatile, easy-to-use dexterous robot end effectors (hands).

[ HAND ]

The Environmental Robotics Lab at ETH Zurich, in partnership with Wilderness International (and some help from DJI and Audi), is using drones to sample DNA from the tops of trees in the Peruvian rainforest. Somehow, the treetops are where 60 to 90 percent of biodiversity is found, and these drones can help researchers determine what the heck is going on up there.

[ ERL ]

Thanks, Steffen!

1X introduces NEO Beta, “the pre-production build of our home humanoid.”

“Our priority is safety,” said Bernt Børnich, CEO at 1X. “Safety is the cornerstone that allows us to confidently introduce NEO Beta into homes, where it will gather essential feedback and demonstrate its capabilities in real-world settings. This year, we are deploying a limited number of NEO units in selected homes for research and development purposes. Doing so means we are taking another step toward achieving our mission.”

[ 1X ]

We love MangDang’s fun and affordable approach to robotics with Mini Pupper. The next generation of the little legged robot has just launched on Kickstarter, featuring new and updated robots that make it easy to explore embodied AI.

The Kickstarter is already fully funded after just a day or two, but there are still plenty of robots up for grabs.

[ Kickstarter ]

Quadrupeds in space can use their legs to reorient themselves. Or, if you throw one off a roof, it can learn to land on its feet.

To be presented at CoRL 2024.

[ ARL ]

HEBI Robotics, which apparently was once headquartered inside a Pittsburgh public bus, has imbued a table with actuators and a mind of its own.

[ HEBI Robotics ]

Carcinization is a concept in evolutionary biology where a crustacean that isn’t a crab eventually becomes a crab. So why not do the same thing with robots? Crab robots solve all problems!

[ KAIST ]

Waymo is smart, but also humans are really, really dumb sometimes.

[ Waymo ]

The Robotics Department of the University of Michigan created an interactive community art project. The group that led the creation believed that while roboticists typically take on critical and impactful problems in transportation, medicine, mobility, logistics, and manufacturing, there are many opportunities to find play and amusement. The final piece is a grid of art boxes, produced by different members of our robotics community, which offer an eight-inch-square view into their own work with robotics.

[ Michigan Robotics ]

I appreciate that UBTECH’s humanoid is doing an actual job, but why would you use a humanoid for this?

[ UBTECH ]

I’m sure most actuators go through some form of life-cycle testing. But if you really want to test an electric motor, put it into a BattleBot and see what happens.

[ Hardcore Robotics ]

Yes, but have you tried fighting a BattleBot?

[ AgileX ]

In this video, we present collaboration aerial grasping and transportation using multiple quadrotors with cable-suspended payloads. Grasping using a suspended gripper requires accurate tracking of the electromagnet to ensure a successful grasp while switching between different slack and taut modes. In this work, we grasp the payload using a hybrid control approach that switches between a quadrotor position control and a payload position control based on cable slackness. Finally, we use two quadrotors with suspended electromagnet systems to collaboratively grasp and pick up a larger payload for transportation.

[ Hybrid Robotics ]

I had not realized that the floretizing of broccoli was so violent.

[ Oxipital ]

While the RoboCup was held over a month ago, we still wanted to make a small summary of our results, the most memorable moments, and of course an homage to everyone who is involved with the B-Human team: the team members, the sponsors, and the fans at home. Thank you so much for making B-Human the team it is!

[ B-Human ]

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

I think it’s time for us all to admit that some of the most interesting bipedal and humanoid research is being done by Disney.

[ Research Paper from ETH Zurich and Disney Research]

Over the past few months, Unitree G1 robot has been upgraded into a mass production version, with stronger performance, ultimate appearance, and being more in line with mass production requirements.

[ Unitree ]

This robot is from Kinisi Robotics, which was founded by Brennand Pierce, who also founded Bear Robotics. You can’t really tell from this video, but check out the website because the reach this robot has is bonkers.

Kinisi Robotics is on a mission to democratize access to advanced robotics with our latest innovation—a low-cost, dual-arm robot designed for warehouses, factories, and supermarkets. What sets our robot apart is its integration of LLM technology, enabling it to learn from demonstrations and perform complex tasks with minimal setup. Leveraging Brennand’s extensive experience in scaling robotic solutions, we’re able to produce this robot for under $20k, making it a game-changer in the industry.

[ Kinisi Robotics ]

Thanks Bren!

Finally, something that Atlas does that I am also physically capable of doing. In theory.

Okay, never mind. I don’t have those hips.

[ Boston Dynamics ]

Researchers in the Department of Mechanical Engineering at Carnegie Mellon University have created the first legged robot of its size to run, turn, push loads, and climb miniature stairs.

They say it can “run,” but I’m skeptical that there’s a flight phase unless someone sneezes nearby.

[ Carnegie Mellon University ]

The lights are cool and all, but it’s the pulsing soft skin that’s squigging me out.

[ Paper, Robotics Reports Vol.2 ]

Roofing is a difficult and dangerous enough job that it would be great if robots could take it over. It’ll be a challenge though.

[ Renovate Robotics ] via [ TechCrunch ]

Kento Kawaharazuka from JSK Robotics Laboratory at the University of Tokyo wrote in to share this paper, just accepted at RA-L, which (among other things) shows a robot using its flexible hands to identify objects through random finger motion.

[ Paper accepted by IEEE Robotics and Automation Letters ]

Thanks Kento!

It’s one thing to make robots that are reliable, and it’s another to make robots that are reliable and repairable by the end user. I don’t think iRobot gets enough credit for this.

[ iRobot ]

I like competitions where they say, “just relax and forget about the competition and show us what you can do.”

[ MBZIRC Maritime Grand Challenge ]

I kid you not, this used to be my job.

[ RoboHike ]

Boardwalk Robotics is announcing its entry into the increasingly crowded commercial humanoid(ish) space with Alex, a “workforce transformation” humanoid upper torso designed to work in manufacturing, logistics, and maintenance.

Before we get into Alex, let me take just a minute here to straighten out how Boardwalk Robotics is related to IHMC, the Institute for Human Machine Cognition in Pensacola, Fla. IHMC is, I think it’s fair to say, somewhat legendary when it comes to bipedal robotics—its DARPA Robotics Challenge team took second place in the final event (using a Boston Dynamics DRC Atlas), and when NASA needed someone to teach the agency’s Valkyrie humanoid to walk better, they sent it to IHMC.

Boardwalk, which was founded in 2017, has been a commercial partner with IHMC when it comes to the actual building of robots. The most visible example of this to date has been IHMC’s Nadia humanoid, a research platform which Boardwalk collaborated on and built. There’s obviously a lot of crossover between IHMC and Boardwalk in terms of institutional knowledge and experience, but Alex is a commercial robot developed entirely in-house by Boardwalk.

“We’ve used Nadia to learn a lot in the realm of dynamic locomotion research, and we’re taking all that and sticking it into a manipulation platform that’s ready for commercial work,” says Brandon Shrewsbury, Boardwalk Robotics’ CTO. “With Alex, we’re focusing on the manipulation side first, getting that well established. And then picking the mobility to match the task.”

The first thing you’ll notice about Alex is that it doesn’t have legs, at least for now. Boardwalk’s theory is that for a humanoid to be practical and cost effective in the near term, legs aren’t necessary, and that there are many tasks that offer a good return on investment where a stationary pedestal or a glorified autonomous mobile robotic base would be totally fine.

“There are going to be some problem sets that require legs, but there are many problem sets that don’t,” says Robert Griffin, a technical advisor at Boardwalk. “And there aren’t very many problem sets that don’t require halfway decent manipulation capabilities. So if we can design the manipulation well from the beginning, then we won’t have to depend on legs for making a robot that’s functionally useful.”

It certainly helps that Boardwalk isn’t at all worried about developing legs: “Every time we bring up a new humanoid, it’s something like twice as fast as the previous time,” Griffin says. This will be the eighth humanoid that IHMC has been involved in bringing up—I’d tell you more about all eight of those humanoids, but some of them are so secret that even I don’t know anything about them. Legs are definitely on the road map, but they’re not done yet, and IHMC will have a hand in their development to speed things along: It turns out that already having access to a functional (top of the line, really) locomotion stack is a big head start.

Alex’s actuators are all designed in-house, and the next version will feature new grippers that allow for quicker tool changes.Boardwalk Robotics

While the humanoid space is wide open right now and competition isn’t really an issue, looking ahead, Boardwalk sees safety as one of its primary differentiators since it’s not starting out with legs, says Shrewsbury. “For a full humanoid, there’s no way to make that completely safe. If it falls, it’s going to face-plant.” By keeping Alex on a stable base, it can work closer to humans and potentially move its arms much faster while also preserving a dynamic safety zone.

Alex is available for researchers to purchase immediately.Boardwalk Robotics

Despite its upbringing in research, Alex is not intended to be a research robot. You can buy it for research purposes, if you want, but Boardwalk will be selling Alex as a commercial robot. At the moment, Boardwalk is conducting pilot programs with Alex where they’re working in partnership with select customers, with the eventual goal of transitioning to a service model. The first few sectors that Boardwalk is targeting include logistics (because, of course) and food processing, although as Boardwalk CEO Michael Morin tells us, one of the very first pilots is (appropriately enough) in aviation.

Morin, who helped to commercialize Barrett Technologies’ WAM Arm before spending some time at Vicarious Surgical as that company went public, joined Boardwalk to help them turn good engineering into a good product, which is arguably the hardest part of making useful robots (besides all the other hardest parts). “A lot of these companies are just learning about humanoids for the first time,” says Morin. “That makes the customer journey longer. But we’re putting in the effort to educate them on how this could be implemented in their world.”

If you want an Alex of your very own, Boardwalk is currently selecting commercial partners for a few more pilots. And for researchers, the robot is available right now.

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

The title of this video is “Silly Robot Dog Jump” and that’s probably more than you need to know.

[ Deep Robotics ]

It’ll be great when robots are reliably autonomous, but until they get there, collaborative capabilities are a must.

[ Robust AI ]

I am so INCREDIBLY EXCITED for this.

[ IIT Instituto Italiano di Tecnologia ]

In this 3 minutes long one-take video, the LimX Dynamics CL-1 takes on the challenge of continuous heavy objects loading among shelves in a simulated warehouse, showcasing the advantages of the general-purpose form factor of humanoid robots.

[ LimX Dynamics ]

Birds, bats and many insects can tuck their wings against their bodies when at rest and deploy them to power flight. Whereas birds and bats use well-developed pectoral and wing muscles, how insects control their wing deployment and retraction remains unclear because this varies among insect species. Here we demonstrate that rhinoceros beetles can effortlessly deploy their hindwings without necessitating muscular activity. We validated the hypothesis using a flapping microrobot that passively deployed its wings for stable, controlled flight and retracted them neatly upon landing, demonstrating a simple, yet effective, approach to the design of insect-like flying micromachines.

[ Nature ]

Agility Robotics’ CTO, Pras Velagapudi, talks about data collection, and specifically about the different kinds we collect from our real-world robot deployments and generally what that data is used for.

[ Agility Robotics ]

Robots that try really hard but are bad at things are utterly charming.

[ University of Tokyo JSK Lab ]

The DARPA Triage Challenge unsurprisingly has a bunch of robots in it.

[ DARPA ]

The Cobalt security robot has been around for a while, but I have to say, the design really holds up—it’s a good looking robot.

[ Cobalt AI ]

All robots that enter elevators should be programmed to gently sway back and forth to the elevator music. Even if there’s no elevator music.

[ Somatic ]

ABB Robotics and the Texas Children’s Hospital have developed a groundbreaking lab automation solution using ABB’s YuMi® cobot to transfer fruit flies (Drosophila melanogaster) used in the study for developing new drugs for neurological conditions such as Alzheimer’s, Huntington’s and Parkinson’s.

[ ABB ]

Extend Robotics are building embodied AI enabling highly flexible automation for real-world physical tasks. The system features intuitive immersive interface enabling tele-operation, supervision and training AI models.

[ Extend Robotics ]

The recorded livestream of RSS 2024 is now online, in case you missed anything.

[ RSS 2024 ]

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UAE

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

At ICRA 2024, in Tokyo last May, we sat down with the director of Shadow Robot, Rich Walker, to talk about the journey toward developing its newest model. Designed for reinforcement learning, the hand is extremely rugged, has three fingers that act like thumbs, and has fingertips that are highly sensitive to touch.

[ IEEE Spectrum ]

Food Angel is a food delivery robot to help with the problems of food insecurity and homelessness. Utilizing autonomous wheeled robots for this application may seem to be a good approach, especially with a number of successful commercial robotic delivery services. However, besides technical considerations such as range, payload, operation time, autonomy, etc., there are a number of important aspects that still need to be investigated, such as how the general public and the receiving end may feel about using robots for such applications, or human-robot interaction issues such as how to communicate the intent of the robot to the homeless.

[ RoMeLa ]

The UKRI FLF team RoboHike of UCL Computer Science of the Robot Perception and Learning lab with Forestry England demonstrate the ANYmal robot to help preserve the cultural heritage of an historic mine in the Forest of Dean, Gloucestershire, UK.

This clip is from a reboot of the British TV show “Time Team.” If you’re not already a fan of “Time Team,” let me just say that it is one of the greatest retro reality TV shows ever made, where actual archaeologists wander around the United Kingdom and dig stuff up. If they can find anything. Which they often can’t. And also it has Tony Robinson (from “Blackadder”), who runs everywhere for some reason. Go to Time Team Classics on YouTube for 70+ archived episodes.

[ UCL RPL ]

UBTECH humanoid robot Walker S Lite is working in Zeekr’s intelligent factory to complete handling tasks at the loading workstation for 21 consecutive days, and assist its employees with logistics work.

[ UBTECH ]

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we introduce IN-Sight, a novel approach to self-supervised path planning, enabling more effective navigation strategies through interaction with obstacles.

[ ETH Zurich paper / IROS 2024 ]

When working on autonomous cars, sometimes it’s best to start small.

[ University of Pennsylvania ]

MIT MechE researchers introduce an approach called SimPLE (Simulation to Pick Localize and placE), a method of precise kitting, or pick and place, in which a robot learns to pick, regrasp, and place objects using the object’s computer-aided design (CAD) model, and all without any prior experience or encounters with the specific objects.

[ MIT ]

Staff, students (and quadruped robots!) from UCL Computer Science wish the Great Britain athletes the best of luck this summer in the Olympic Games & Paralympics.

[ UCL Robotics Institute ]

Walking in tall grass can be hard for robots, because they can’t see the ground that they’re actually stepping on. Here’s a technique to solve that, published in Robotics and Automation Letters last year.

[ ETH Zurich Robotic Systems Lab ]

There is no such thing as excess batter on a corn dog, and there is also no such thing as a defective donut. And apparently, making Kool-Aid drink pouches is harder than it looks.

[ Oxipital AI ]

Unitree has open-sourced its software to teleoperate humanoids in VR for training-data collection.

[ Unitree / GitHub ]

Nothing more satisfying than seeing point-cloud segments wiggle themselves into place, and CSIRO’s Wildcat SLAM does this better than anyone.

[ IEEE Transactions on Robotics ]

A lecture by Mentee Robotics CEO Lior Wolf, on Mentee’s AI approach.

[ Mentee Robotics ]

Today, Figure is introducing the newest, slimmest, shiniest, and least creatively named next generation of its humanoid robot: Figure 02. According to the press release, Figure 02 is the result of “a ground-up hardware and software redesign” and is “the highest performing humanoid robot,” which may even be true for some arbitrary value of “performing.” Also notable is that Figure has been actively testing robots with BMW at a manufacturing plant in Spartanburg, S.C., where the new humanoid has been performing “data collection and use case training.”

The rest of the press release is pretty much, “Hey, check out our new robot!” And you’ll get all of the content in the release by watching the videos. What you won’t get from the videos is any additional info about the robot. But we sent along some questions to Figure about these videos, and have a few answers from Michael Rose, director of controls, and Vadim Chernyak, director of hardware.

First, the trailer:

How many parts does Figure 02 have, and is this all of them?

Figure: A couple hundred unique parts and a couple thousand parts total. No, this is not all of them.

Does Figure 02 make little Figure logos with every step?

Figure: If the surface is soft enough, yes.

Swappable legs! Was that hard to do, or easier to do because you only have to make one leg? Figure: We chose to make swappable legs to help with manufacturing.

Is the battery pack swappable too?

Figure: Our battery is swappable, but it is not a quick swap procedure.

What’s that squishy-looking stuff on the back of Figure 02’s knees and in its elbow joints?

Figure: These are soft stops which limit the range of motion in a controlled way and prevent robot pinch points

Where’d you hide that thumb motor?

Figure: The thumb is now fully contained in the hand.

Tell me about the “skin” on the neck!

Figure: The skin is a soft fabric which is able to keep a clean seamless look even as the robot moves its head.

And here’s the reveal video:

When Figure 02’s head turns, its body turns too, and its arms move. Is that necessary, or aesthetic?

Figure: Aesthetic.

The upper torso and shoulders seem very narrow compared to other humanoids. Why is that?

Figure: We find it essential to package the robot to be of similar proportions to a human. This allows us to complete our target use cases and fit into our environment more easily.

What can you tell me about Figure 02’s walking gait?

Figure: The robot is using a model predictive controller to determine footstep locations and forces required to maintain balance and follow the desired robot trajectory.

How much runtime do you get from 2.25 kilowatt-hours doing the kinds of tasks that we see in the video?

Figure: We are targeting a 5-hour run time for our product.

Slick, but also a little sinister?Figure

This thing looks slick. I’d say that it’s maybe a little too far on the sinister side for a robot intended to work around humans, but the industrial design is badass and the packaging is excellent, with the vast majority of the wiring now integrated within the robot’s skins and flexible materials covering joints that are typically left bare. Figure, if you remember, raised a US $675 million Series B that valued the company at $2.6 billion, and somehow the look of this robot seems appropriate to that.

I do still have some questions about Figure 02, such as where the interesting foot design came from and whether a 16-degree-of-freedom hand is really worth it in the near term. It’s also worth mentioning that Figure seems to have a fair number of Figure 02 robots running around—at least five units at its California headquarters, plus potentially a couple of more at the BMW Spartanburg manufacturing facility.

I also want to highlight this boilerplate at the end of the release: “our humanoid is designed to perform human-like tasks within the workforce and in the home.” We are very, very far away from a humanoid robot in the home, but I appreciate that it’s still an explicit goal that Figure is trying to achieve. Because I want one.

Video Friday is your weekly selection of awesome robotics videos, collected by your friends at IEEE Spectrum robotics. We also post a weekly calendar of upcoming robotics events for the next few months. Please send us your events for inclusion.

ICRA@40: 23–26 September 2024, ROTTERDAM, NETHERLANDS

IROS 2024: 14–18 October 2024, ABU DHABI, UNITED ARAB EMIRATES

ICSR 2024: 23–26 October 2024, ODENSE, DENMARK

Cybathlon 2024: 25–27 October 2024, ZURICH

Enjoy today’s videos!

We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity, anthropomorphic motion, and high reliability against falls. Capable of omnidirectional locomotion and withstanding large perturbations with a compact setup, our system aims for scalable, sim-to-real deployment of learning-based humanoid systems.

[ Berkeley Humanoid ]

This article presents Ray, a new type of audio-animatronic robot head. All the mechanical structure of the robot is built in one step by 3-D printing... This simple, lightweight structure and the separate tendon-based actuation system underneath allow for smooth, fast motions of the robot. We also develop an audio-driven motion generation module that automatically synthesizes natural and rhythmic motions of the head and mouth based on the given audio.

[ Paper ]

CSAIL researchers introduce a novel approach allowing robots to be trained in simulations of scanned home environments, paving the way for customized household automation accessible to anyone.

[ MIT News ]

Okay, sign me up for this.

[ Deep Robotics ]

NEURA Robotics is among the first joining the early access NVIDIA Humanoid Robot Developer Program.

This could be great, but there’s an awful lot of jump cuts in that video.

[ Neura ] via [ NVIDIA ]

I like that Unitree’s tagline in the video description here is “Let’s have fun together.”

Is that “please don’t do dumb stuff with our robots” at the end of the video new...?

[ Unitree ]

NVIDIA CEO Jensen Huang presented a major breakthrough on Project GR00T with WIRED’s Lauren Goode at SIGGRAPH 2024. In a two-minute demonstration video, NVIDIA explained a systematic approach they discovered to scale up robot data, addressing one of the most challenging issues in robotics.

[ Nvidia ]

In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails that function solely as tails on quadruped robots. While these tails improve the performance of the robots, they come with several disadvantages, such as increased overall weight and higher costs. To mitigate these limitations, we propose the use of a 6-DoF manipulator as a tail, allowing it to serve both as a tail and as a manipulator.

[ Paper ]

In this end-to-end demo, we showcase how MenteeBot transforms the shopping experience for individuals, particularly those using wheelchairs. Through discussions with a global retailer, MenteeBot has been designed to act as the ultimate shopping companion, offering a seamless, natural experience.

[ Menteebot ]

Nature Fresh Farms, based in Leamington, Ontario, is one of North America’s largest greenhouse farms growing high-quality organics, berries, peppers, tomatoes, and cucumbers. In 2022, Nature Fresh partnered with Four Growers, a FANUC Authorized System Integrator, to develop a robotic system equipped with AI to harvest tomatoes in the greenhouse environment.

[ FANUC ]

Contrary to what you may have been led to believe by several previous Video Fridays, WVUIRL’s open source rover is quite functional, most of the time.

[ WVUIRL ]

Honeybee Robotics, a Blue Origin company, is developing Lunar Utility Navigation with Advanced Remote Sensing and Autonomous Beaming for Energy Redistribution, also known as LUNARSABER. In July 2024, Honeybee Robotics captured LUNARSABER’s capabilities during a demonstration of a scaled prototype.

[ Honeybee Robotics ]

Bunker Mini is a compact tracked mobile robot specifically designed to tackle demanding off-road terrains.

[ AgileX ]

In this video we present results of our lab from the latest field deployments conducted in the scope of the Digiforest EU project, in Stein am Rhein, Switzerland. Digiforest brings together various partners working on aerial and legged robots, autonomous harvesters, and forestry decision-makers. The goal of the project is to enable autonomous robot navigation, exploration, and mapping, both below and above the canopy, to create a data pipeline that can support and enhance foresters’ decision-making systems.

[ ARL ]

I’ll be honest: when I first got this pitch for an autonomous robot dentist, I was like: “Okay, I’m going to talk to these folks and then write an article, because there’s no possible way for this thing to be anything but horrific.” Then they sent me some video that was, in fact, horrific, in the way that only watching a high speed drill remove most of a tooth can be.

But fundamentally this has very little to do with robotics, because getting your teeth drilled just sucks no matter what. So the real question we should be asking is this: How can we make a dental procedure as quick and safe as possible, to minimize that inherent horrific-ness?And the answer, surprisingly, may be this robot from a startup called Perceptive.

Perceptive is today announcing two new technologies that I very much hope will make future dental experiences better for everyone. While it’s easy to focus on the robot here (because, well, it’s a robot), the reason the robot can do what it does (which we’ll get to in a minute) is because of a new imaging system. The handheld imager, which is designed to operate inside of your mouth, uses optical coherence tomography (OCT) to generate a 3D image of the inside of your teeth, and even all the way down below the gum line and into the bone. This is vastly better than the 2D or 3D x-rays that dentists typically use, both in resolution and positional accuracy.

Perceptive’s handheld optical coherence tomography imager scans for tooth decay.Perceptive

X-Rays, it turns out, are actually really bad at detecting cavities; Perceptive CEO Chris Ciriello tells us that the accuracy is on the order of 30 percent of figuring out the location and extent of tooth decay. In practice, this isn’t as much of a problem as it seems like it should be, because the dentist will just start drilling into your tooth and keep going until they find everything. But obviously this won’t work for a robot, where you need all of the data beforehand. That’s where the OCT comes in. You can think of OCT as similar to an ultrasound, in that it uses reflected energy to build up an image, but OCT uses light instead of sound for much higher resolution.

Perceptive’s imager can create detailed 3D maps of the insides of teeth.Perceptive

The reason OCT has not been used for teeth before is because with conventional OCT, the exposure time required to get a detailed image is several seconds, and if you move during the exposure, the image will blur. Perceptive is instead using a structure from motion approach (which will be familiar to many robotics folks), where they’re relying on a much shorter exposure time resulting in far fewer data points, but then moving the scanner and collecting more data to gradually build up a complete 3D image. According to Ciriello, this approach can localize pathology within about 20 micrometers with over 90 percent accuracy, and it’s easy for a dentist to do since they just have to move the tool around your tooth in different orientations until the scan completes.

Again, this is not just about collecting data so that a robot can get to work on your tooth. It’s about better imaging technology that helps your dentist identify and treat issues you might be having. “We think this is a fundamental step change,” Ciriello says. “We’re giving dentists the tools to find problems better.”

The robot is mechanically coupled to your mouth for movement compensation.Perceptive

Ciriello was a practicing dentist in a small mountain town in British Columbia, Canada. People in such communities can have a difficult time getting access to care. “There aren’t too many dentists who want to work in rural communities,” he says. “Sometimes it can take months to get treatment, and if you’re in pain, that’s really not good. I realized that what I had to do was build a piece of technology that could increase the productivity of dentists.”

Perceptive’s robot is designed to take a dental procedure that typically requires several hours and multiple visits, and complete it in minutes in a single visit. The entry point for the robot is crown installation, where the top part of a tooth is replaced with an artificial cap (the crown). This is an incredibly common procedure, and it usually happens in two phases. First, the dentist will remove the top of the tooth with a drill. Next, they take a mold of the tooth so that a crown can be custom fit to it. Then they put a temporary crown on and send you home while they mail the mold off to get your crown made. A couple weeks later, the permanent crown arrives, you go back to the dentist, and they remove the temporary one and cement the permanent one on.

With Perceptive’s system, it instead goes like this: on a previous visit where the dentist has identified that you need a crown in the first place, you’d have gotten a scan of your tooth with the OCT imager. Based on that data, the robot will have planned a drilling path, and then the crown could be made before you even arrive for the drilling to start, which is only possible because the precise geometry is known in advance. You arrive for the procedure, the robot does the actually drilling in maybe five minutes or so, and the perfectly fitting permanent crown is cemented into place and you’re done.

The robot is still in the prototype phase but could be available within a few years.Perceptive

Obviously, safety is a huge concern here, because you’ve got a robot arm with a high-speed drill literally working inside of your skull. Perceptive is well aware of this.

The most important thing to understand about the Perceptive robot is that it’s physically attached to you as it works. You put something called a bite block in your mouth and bite down on it, which both keeps your mouth open and keeps your jaw from getting tired. The robot’s end effector is physically attached to that block through a series of actuated linkages, such that any motions of your head are instantaneously replicated by the end of the drill, even if the drill is moving. Essentially, your skull is serving as the robot’s base, and your tooth and the drill are in the same reference frame. Purely mechanical coupling means there’s no vision system or encoders or software required: it’s a direct physical connection so that motion compensation is instantaneous. As a patient, you’re free to relax and move your head somewhat during the procedure, because it makes no difference to the robot.

Human dentists do have some strategies for not stabbing you with a drill if you move during a procedure, like putting their fingers on your teeth and then supporting the drill on them. But this robot should be safer and more accurate than that method, because of the rigid connection leading to only a few tens of micrometers of error, even on a moving patient. It’ll move a little bit slower than a dentist would, but because it’s only drilling exactly where it needs to, it can complete the procedure faster overall, says Ciriello.

There’s also a physical counterbalance system within the arm, a nice touch that makes the arm effectively weightless. (It’s somewhat similar to the PR2 arm, for you OG robotics folks.) And the final safety measure is the dentist-in-the-loop via a foot pedal that must remain pressed or the robot will stop moving and turn off the drill.

Ciriello claims that not only is the robot able to work faster, it also will produce better results. Most restorations like fillings or crowns last about five years, because the dentist either removed too much material from the tooth and weakened it, or removed too little material and didn’t completely solve the underlying problem. Perceptive’s robot is able to be far more exact. Ciriello says that the robot can cut geometry that’s “not humanly possible,” fitting restorations on to teeth with the precision of custom-machined parts, which is pretty much exactly what they are.

Perceptive has successfully used its robot on real human patients, as shown in this sped-up footage. In reality the robot moves slightly slower than a human dentist.Perceptive

While it’s easy to focus on the technical advantages of Perceptive’s system, dentist Ed Zuckerberg (who’s an investor in Perceptive) points out that it’s not just about speed or accuracy, it’s also about making patients feel better. “Patients think about the precision of the robot, versus the human nature of their dentist,” Zuckerberg says. It gives them confidence to see that their dentist is using technology in their work, especially in ways that can address common phobias. “If it can enhance the patient experience or make the experience more comfortable for phobic patients, that automatically checks the box for me.”

There is currently one other dental robot on the market. Called Yomi, it offers assistive autonomy for one very specific procedure for dental implants. Yomi is not autonomous, but instead provides guidance for a dentist to make sure that they drill to the correct depth and angle.

While Perceptive has successfully tested their first-generation system on humans, it’s not yet ready for commercialization. The next step will likely be what’s called a pivotal clinical trial with the FDA, and if that goes well, Cirello estimates that it could be available to the public in “several years”. Perceptive has raised US $30 million in funding so far, and here’s hoping that’s enough to get them across the finish line.