Lab facilities

Deokrae building 7208

Arms : Dual (7 DOF x 2  / 1 DOF Gripper x2)  /  5Kg(Single)

Movement : Mobile type

Weight : 90Kg

Sensors : RGBD Camera x 3 / LiDAR x2 / IMU

Max. Torque : 45Nm

Actuators : BLDC motor 12 EA

Battery   :  2,040 Wh

Research Purpose  :  Dual-arm motion development / Physical AI / Humanoid research 

                                               Imitation Learning / Reinforcement Learning  / etc.

Legs : 4

Payload : 8Kg

Max. Climb angle : 40 deg

Max. Torque : 45Nm

Actuators : BLDC motor 12 EA

Bat. Life   :  4 hour

Research Purpose  :  walking algorithm development, SLAM with LiDAR, Kinematic design     

                                                Dynamic control algorithm,  etc.

Legs : 4

Payload : unknown

Actuators : BLDC motor 16 EA

Bat. Life   :  2 hour

제조사 : Rainbow Robotics (개발품)

Research Purpose  :  walking algorithm development, SLAM with LiDAR, Kinematic design     

                                                Dynamic control algorithm,  etc.

DoF   :   6 

Weight   :   4.5Kg

Payload   :   4 Kg

Reach   :   740mm

Repeatability    :   ~0.1mm

Power   :   24V, 20A

Interface   :  Ethernet

OS  :   Ubuntu

DoF   :   6 

Weight   :   4.5Kg

Payload   :   4 Kg

Reach   :   740mm

Repeatability    :   ~0.1mm

Power   :   24V, 20A

Interface   :  Ethernet

OS  :   Ubuntu

Model   :   Markforged Onyx  Pro

Materials   :   Onyx, Fiber glass, HSHT Fiberglass, Kevlar

Z layer resolution   :   0.1mm

Touch X (left picture)

Max. force    :   7.9N           Cont. force    :   1.75N

Stiffness   1.86N/mm (X), 2.35 N/mm(Y),  1.48N/mm(Z),   force feedback   :  X, Y, Z

Touch  (right picture)

Max. force    :   3.3N           Cont. force    :   0.9N

Stiffness   1.26N/mm (X), 2.31 N/mm(Y),  1.02N/mm(Z),   force feedback   :  X, Y, Z