Meka Robot

[ChingHengWang]

SEA

• SEA *http://mech.vub.ac.be/IROSWSActuators/Sentis_Paine%20Actuator%20Workshop%20IROS%202014.pdf

• SEA papper http://www.me.utexas.edu/~lsentis/files/paine-tmech-2013.pdf

[ChingHengWang]

Texas at Austin Lab

• http://www.me.utexas.edu/~hcrl/our_robots/index.html

Dreamer Mobile Humanoid Robot

1. Design and manufacture by Meka
2. 7 DOF compliant arm with Series Elastic Actuation
3. 3 DOF torque controlled torso
4. 5 DOF compliant hand driven by tendon actuators
5. Torque amplifiers for all 15 DOFs
6. Ethercat realtime communication bus
7. Realtime RTAI kernel running on Ubuntu
8. Shared memory interface for control and embedded communications
9. Whole-Body Control Architecture to enable sensory-motor skills

Trikey Mobile Base

1. Design and manufacture by the HCRL at UT Austin
2. Omni wheels
3. 3DOF omnidirecational movement
4. Torque control amplifiers
5. max velocity 1m/s, max acceleration 2 m/s^2
6. Ethercat realtime communication bus (under design)
7. Battery autonomy (under design)

[ChingHengWang]

Meka Robot

body

ref : http://machinedesign.com/robotics/rise-soft-robots-and-actuators-drive-them

arm

video

http://www.hizook.com/blog/2009/10/18/meka-robotics-humanoid-torso-and-anthropomorphic-hands

[ChingHengWang]

Belt - Driven arm

http://people.seas.harvard.edu/~aasbeck/papers/Quigley2011-ICRA-ALowCostCompliant7-DOFRoboticManipulator.pdf