ergoCub 1.0 S/N:000 – Various fixes/improvements on ergoCubSN000

[GiulioRomualdi]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

Hi all,

ergoCubSN000 requires some maintenance. After a meeting with @S-Dafarra and @DanielePucci, we prepared a list of fixes that could be implemented to improve the robot's structure and make it comparable with the SN001 and SN002.

Detailed context

We split the list into must-have, nice-to-have, and wish categories. Here is the list:

Must-have

1. The head is moving when controlled. I think the tendon should be tensioned/fixed.
2. Firmware needs to be updated to include all safety features already in place for the other two ergocubs (temperature checking, compliant mode fixed).

   Nice-to-have

3. If the new tendons for the neck are available, they could be mounted in place of the original ones (similar to what was done on ergoCubSN001).
4. New wrist mechanism mounted (the same as used for ergoCubSN001 and ergoCubSN002).

   Wish list

5. New versions of the hand (the ones from ergoCubSN001 and ergoCubSN002) installed.

Additional context

cc @Fabrizio69 @maggia80 @DanielePucci @S-Dafarra

How does it affect you?

No response

[github-actions[bot]]

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