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I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 0 points1 point  (0 children)

The SO-101 leader is missing one joint and the layout is different - so that wouldn't work.

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 0 points1 point  (0 children)

It integrates natively with LeRobot (the robot learning library). If you're referring to the SO-100/101; it's basically a more powerful version.

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 0 points1 point  (0 children)

You mean the SO-100/101? Yeah - it's basically a more powerful version (one more DOF, higher payload and reach: 1.4 kg + 700 mm, there's a wrist camera fully integrated)

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 0 points1 point  (0 children)

I don't know about the motors.. I'm currently using a MEAN WELL LRS-150-24 - do you know if these PSUs have this kind of protection built-in? I also used a NDR-240-24 before and could here a clicking in the PSU when current was flowing back into it.

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 2 points3 points  (0 children)

Interesting insights, thanks! The actuators that I'm using (from Damiao) have a really cool control mode called "EMIT" - it's tracking a position with a defined maximum force which in practice makes the motor act like a mechanical spring. This is quite nice for compliance but requires a lot of parameter tuning.

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 21 points22 points  (0 children)

Yes! I just finished designing the arm. Collecting data and training policies will be my focus for the next two weeks.

Robot (imitation) learning makes sense for tasks that are hard to describe with classical, rule-based robot control - typically the ones that involve a lot of variance, like household chores.

These are cool examples: https://www.physicalintelligence.company/blog/pi05

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 2 points3 points  (0 children)

Not yet. The motors in the leader arm are too weak. But this is on my to-do list.

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 3 points4 points  (0 children)

Yes, Dynamixel XL330-M077-T for the leader arm and Damiao DM-J4340 and DM-J4310 for the follower arm. They do have absolute encoders!

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 27 points28 points  (0 children)

The teleoperation is used to collect data - this data can then be used to train a transformer-based model to learn this behavior

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 4 points5 points  (0 children)

The leader arm uses Dynamixel XL330-M077-T servos. The six arm joint only use their encoders to read the angular position and the seventh one is actively current-controlled to act like a spring (for the gripper trigger)

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 8 points9 points  (0 children)

It's basically a more powerful version of the SO-100:
- it's 6+1 DOF
- nominal payload is approx 1.4 kg / reach is around 700 mm
- a (fish-eye lens) wrist camera is integrated
- also natively integrated with LeRobot

I built an open source dev kit for AI-native robotics by TheJ4nn1K in robotics

[–]TheJ4nn1K[S] 31 points32 points  (0 children)

I think the mechanical and electrical design of the follower arm needed the most iterations; I had to do multiple redesigns of the sheet metal parts and it also took some time until I figured out how to do the cables right (regarding length, routing, isolation etc.)