AI-Robot Platform for Scientific Exploration
Murilo Marques Marinho, Juan José Quiroz-Omaña, and Kanako Harada.
How to cite us
@misc{aiscienceplatform2022,
title = {Design and Validation of a Multi-Arm Robotic Platform for Scientific Exploration},
author = {Marques Marinho, Murilo and Quiroz-Oma\~na, Juan Jos\'e and Harada, Kanako},
doi = {10.48550/ARXIV.2210.11877},
url = {https://arxiv.org/abs/2210.11877},
year = {2022},
}
Exhibition on IROS 2022
Real Platform
The robotic system is composed of four branches able to independently rotate about a circular rail. Furthermore, each branch is composed of a serial manipulator mounted on a linear actuator that moves back-and-forth in the direction of the center of the rail.
Easy VFI Descriptions
Definitions of (self) collision-avoidance constraints by means of the VFI framework. The constraints are implemented using geometric primitives on CoppeliaSim and a configuration file.
Realistic Simulations
Digital twins implemented on Nvidia Isaac Sim. Before using the real platform, operators can be trained using simulation examples of peg transfer tasks.
Powered by Open Software Technologies
Available low level controllers on Python and C++ (including ROS packages) for the robots, sensors, actuators, and grippers. The robot modeling and control is implemented using the DQ Robotics library.
Long-Term Goal
Our long-term goal, part of the ambitious Moonshot Research & Development Program of the Cabinet Office of Japan is, by 2050 and beyond, have AI-robots that autonomously learn, adapt to their environment, evolve in intelligence and act alongside human beings.
About the Project
This project is under development at the Harada lab at the University of Tokyo and was funded by JST Moonshot R&D (JPMJMS2033-09).