ENVIRONMENT

01

Lab Spaces

  • Student Workspace

    The student workspace is equipped with individual desks and a meeting table, providing an environment for programming, writing papers, and discussion.

  • Robotics Lab

    The robotics laboratory is equipped with various robots, sensors, and a 3D printer, providing a space for conducting a variety of robotic experiments.

02

Robots

  • Stretch 3

    A lightweight and versatile mobile manipulator developed by Hello Robot, used for research on mobile manipulation.

  • Franka Research 3

    A 7-DOF manipulator developed by Franka Research, equipped with torque sensors, and used for research involving force sensing.

  • xArm 7

    A 7-DOF manipulator developed by UFactory, used for research on object manipulation. We have two units for bimanual operation.

  • PiPER

    A 6-DOF manipulator developed by AgileX, used for research on object manipulation. We have two units for bimanual operation.

  • WidowX-250 6DOF

    A 6-DOF manipulator developed by AgileX, used for research on object manipulation. We have three units.

  • NAO

    A small humanoid robot developed by Softbank Robotics used for research on cognitive robotics. We have two units.

  • Rakuda-2

    An upper-body humanoid robot developed by ROBOTIS, used for research on bimanual object manipulation. We have five units.

  • Rakuda-2 mini

    An upper-body humanoid robot developed by ROBOTIS, used as a leader robot for teleoperating the Rakuda-2.

  • TurtleBot 4

    A mobile robot developed by Clearpath Robotics, used for research on autonomous navigation. We have two units.

03

Facilities and Resources

  • GPU Servers

    We have computing servers equipped with GPUs, including RTX 6000 Ada, with more than 50 GPUs used for research.

  • Haptic Device

    We have two Touch devices developed by 3D Systems, desktop haptic interfaces that provide force and tactile feedback.

  • Gripper

    We have an adaptive gripper developed by ROBOTIQ and mounted on the Franka Research 3, used for object manipulation.

  • Sensors

    We have a variety of sensors covering multiple modalities, including the tactile sensor DIGIT shown in the image.

  • 3D Printer

    We use 3D printers to fabricate components for teleoperated leader robots such as GELLO, as well as custom-made parts.

  • Books

    We have books on machine learning, robotics, cognitive neuroscience, data analysis, and scientific writing and presentation.

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