Kayra, finally a fast walking humanoid robot that is easy to print, build and modify. Open source!
Joined August 2022
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Kayra can walk four steps relatively straight now. Next, I'll free her from the cables to fine tune patterns for longer walks. #robot #3dprinted #OpenSource #Python #humanoid designed in @FreeCADNews
After a couple of months pause, starting to assemble Kayra again
#robotics #biped #3Dprinting #kayra
Old versus new hip design. Much easier to assemble. Pelvis servo wrong. Unfortunately, not really reduced in wiggle. Back to the drawing board!
#robot #humanoid #opensource #robotics
Micro switches as touch sensors for the feet. Let's see how that works!
#robotics #biped #humanoid #opensource
Fighting my way into forward kinematics! Will be on Kayra's github soon! #kinematics #robot
Just imagine we would teach Kayra via initiation learning!
youtu.be/w-CGSQAO5-Q?si=YAPs…
YES! Finally, some realistic collision of parts in Kayra simulated in MuJoCo. Separated hip, two legs and floor into four different groups.
#mujoco #simulation #robot #robotics #opensource
Satisfying! All parts align perfectly now. Next step is to get the joint definitions straight.
#robotics #Simulation #design #mujoco #freeCAD
Okay, there's some room for improvement. Our the other way around, let's make the physical Kayra perform like this as well!
#robotics #Simulation #mujoco
YES! Kayra reached 30 stars on github, very proud!
github.com/assadollahi/kayra…
#GitHub #Robotics #opensource
Robotics or Art? Okay, bringing consistency into the coordinate systems in freeCAD necessarily leads to an update in simulation software MuJoCo youtu.be/FEPfyFdWFjA #mujoco #freecad
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This is sensational! 2024 may be to "leap year" for robots - comparable to 2017 for language (introducing Transformers)
These are some of the most complex tasks I’ve ever seen a robot do autonomously.
The best part: nothing fancy required.
- imitation learning with ACT or Diffusion Policy
- co-train with static manipulation data
Zipeng's thread has a results summary⬇️
xitter.cf/zipengfu/status/174260…
Printer z axis went bonkers, need to flash the printer. I hate it.
#3dprinting #prusa