Robots

1x Spot Robot (Boston Dynamics, Clearpath)

Robot description: Spot is the signature quadrupedal platform of Boston Dynamics, to deal with challenging terrains for inspection. The main platform is enhanced with the Clearpath ROS computing. The platform is aimed for research on high-level path planning and perception.

Robot Specs: Control: high-level; Lenght: 1.1m; Width: 0.5m; Height: 0.61m; Weight: 32.7kg; DoF: 12; Max Speed: 1.6m/s; Battery: 90-180min.

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1x ANYmal-C Robot (ANYbotics)

Robot description: ANYmal is the signature quadrupedal platform of ANYbotics, to deal with challenging terrains for inspection. The main platform is enhanced with an Inspection Payload (pan-tilt unit with visual optical zoom camera, thermal camera, LED spotlight and directional microphone) for inspection tasks in various environments. The platform offers low-level control and is aimed for research on locomotion, planning, and perception.

Robot Specs: Control: torque-control; Lenght: 0.8m; Width: 0.6m; Height: 0.7cm; DoF: 12; Max Speed: 1m/s; Battery: 90min.

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1x B1/Z1 Robot (Unitree Robot)

Robot description: B1 and Z1 Pro robots, is a large size quadruped platform with a robotic arm, fully torque-controlled, and very powerful and agile. The platform offers low-level control and is aimed for research on loco-manipulation, planning, and perception, via robot learning.

B1 Robot Specs: Control: torque; Weight: 50kg; Maxc Payload: 40kg; Length: 1.11m; Height: 0.67m; Max Speed: 1.8m/s; Slopes: 35deg; GPU: Jetson Xavier; 5G wireless network; GNSS; Battery: 2-4h.

Z1-Pro Robot Specs:Weight: 4.3kg; Payload: 3kg; DoF: 6; Cotrol: position, force.

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1x A1 Robot (Unitree)

Name: Argos, named after Odysseus' faithful dog (wiki).

Robot description: A1 is a small-size quadruped robot and Go1's grandfather by Unitree. It is a very agile and robust platform that can be used for all types of research on legged robots, such as control, path planning, and perception. We heavily use this robot for robot learning and sim2real experiments.

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3x Go1 Robot (Unitree)

Robot description: Go1 is the most recent small-size quadruped robot by Unitree. It is a very agile and robust platform that can be used for all types of research on legged robots, such as control, path planning, and perception. We heavily use this robot for robot learning and sim2real experiments.

Robot Specs: Control: torque; Weight: 12kg; Max Speed: 17km/h; Sensors: 5x fish-eye stereo depth cameras, 3 hypersonic sensors; Length: 0.59m; Height: 0.22m.

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2x Jueying Lite2 Robot (Deep Robotics)

Robot description: Lite2 is a small-size quadruped robot by Deep Robotics. It is a very agile and robust platform that can be used for all types of research on legged robots, such as control, path planning, and perception. We heavily use this robot for robot learning and sim2real experiments.

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1x UCL Gripper (Luke Beddow)

Robot description: The UCLGripper is a prototype caging inspired gripper using flexible fingers and a movable palm, created by Luke Beddow at UCL during his PhD.

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MPPL Robot

Mobile Platform for Perpcetion and Learning

Robot description: Robotnik Summit-XL STEEL as the omni-directional mobile base, 7DoF Franka Emika Panda arm attached to the base, and a Robotiq 2F-85 Gripper as end-effector.

WidowX 250 Robot Arm

Robotic Arm

Robot description: Trossen Robotics - WidowX 250 Robot Arm, is a 5DoF robotic arm with DYNAMIXEL servos.

NOITOM Systems Perception Neuron Studio: Inertial and Gloves

Motion Capture IMU Body Sensor

Description: Noitom Systems: Perception Neuron Studio Inertial (2020) and Perception Neuron Studio Glove (2020).

Vive Pro VR System

Vive Pro Full Kit

Description: Vive Pro: VIVE Pro Full Kit | The professional-grade VR headset (2021).

Robotiq Gippers and F/T Sensors

Grippers and Force/Torque Sensors

Description: Robotiq: A set of a Vacuum Gripper (1-4 suction cups), a 2F-85 Gripper, and a FT 300-S Force Torque Sensor (2021).

Jetbot Robot

Jetbot Robotic Platform

Robot description: SparkFun JetBot AI Kit v2.1 powered by Jetson Nano and embedded with an Intel Realsense sensor.

RPBP Robot

Rapid-Prototyped BiPed

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