View Proposal

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Proposer

Ioannis Konstas

Title

Build a low-cost bi-manual robot manipulator

Goal

To build a low-cost robot manipulator based on the Koch Low-cost 6 DoF robotic arm

Description

So...we've already built a small follower robotic arm with a simple actuator and its leader counterpart that can be used to teleoperate and/or train the leader to perform manipulation tasks [1]. Your goal would be to build...another one and then delve into the realm of bimanual manipulation [6]. We can provide you with access to the 3D printer and purchase all materials, so you will only have to spend the time assembling it. From then on the topic is left quite open-ended as we are open to suggestions: you can do a more HRI topic experimenting with interacting with humans for collaborative tasks while teleoperating it, or go full-on and train it to perform "pick-and-place" tasks autonomously using models such as ACT [2], or π0 [5], based on modern Python frameworks such as lerobot by Huggingface [3], to more complicated instruction following using Gemini + π0 [6]. Finally, if you are up for it, you can also experiment with training with its simulated digital twin, first existing in MuJoCo [4] and then deploying it to the real robot. [1] https://github.com/AlexanderKoch-Koch/low_cost_robot [2] https://tonyzhaozh.github.io/aloha/ [3] https://github.com/huggingface/lerobot [4] https://mujoco.org/ [5] https://www.physicalintelligence.company/blog/pi0 [6] https://tonyzhaozh.github.io/aloha/

Resources

Background

Url

Difficulty Level

Moderate

Ethical Approval

None

Number Of Students

1

Supervisor

Ioannis Konstas

Keywords

robots, 3d printing, hri, manipulation, action execution, nlp

Degrees

Bachelor of Science in Computer Science
Master of Science in Artificial Intelligence
Master of Science in Artificial Intelligence with SMI
Master of Science in Data Science
Master of Science in Human Robot Interaction
Master of Science in Robotics
Bachelor of Engineering in Robotics