Robots of The Biomechatronics and Intelligent Robotics Lab (BIROLAB)
Lab Developed Custom Robots
Hip Exoskeleton
Our design of quasi-direct drive actuation-based exoskeleton demonstrates mechanical versatility for being lightweight (3.2 kg overall mass), compliant (backdrivable) with high torque (36 Nm) and high control bandwidth. The electronic architecture of the exoskeleton facilitated high-level torque control, motor control, sensor signal conditioning, data communication, and power management.
Knee Exoskeleton
We developed an untethered versatile exoskeleton capable of enhancing productivity via endurance augmentation in multiple activities. This was achieved by a lightweight and compliant robot design, which minimized the energy penalty on the wearer while providing high-torque bidirectional flexion and extension assistance.
Knee Prosthesis
We developed a knee prosthesis using a high torque actuator (built-in 9:1 planetary gear) with a customized 4:1 low-inertia planetary gearbox. Benchtop experiments show that proposed the prosthesis can produce 200 Nm high peak torque, high compliance (2.6 Nm backdrive torque), and high control accuracy (2.7/8.1/1.7 Nm RMS tracking errors for 1.25 m/s walking, 2 m/s running, and 0.25 Hz squatting, that are 5.4%/4.1%/1.4% of desired peak torques).
da Vinci Research Kit (dVRK)
We have the world's most advanced surgical robotic research platform, the da Vinci Research Kit (dVRK). This cutting-edge system enables us to explore innovative concepts in minimally invasive surgery. It includes several essential components of a modern surgical system, allowing us to develop and test research prototypes with precision and efficiency.
Humanoid
We have an agile bipedal humanoid robot that employs actuators with high torque density, high compliance and high computational power via Nvidia Jetson Nano, to implement time-efficient model-free reinforcement learning control strategies, and intelligent computer vision-based navigation planning.
Our Humanoid Specs: 31 dof, Peak torque: 360 Nm, 1.6m height, weight 60kg, maximum walking speed 1.5m/s.
Quadruped Robot
This AI quadruped robot dog is one of the most advanced Unitree masterpieces so far with easy-to-use AI controlling technology.
Industrial Robots
The two ABB industrial robot arms are flexible and agile robots with a large working envelope, and the robot controller is equipped with an advanced motion control feature, MultiMove, to enable multiple robots to work as a team and synchronously complete tasks. The ABB IRB 6620 has a handling capacity of 150 kg and a reach of 2.2 meters, and the ABB IRB 6640, has a slightly greater handling capacity at 185 kg and a greater reach at 2.8 meters.
Wheel Legged Mobile Robot
World‘s First Direct-Drive Self-Balancing Wheeled-Leg Robot
Robots specs: Battery life: 4 hours in wheeled mode, or 40 minutes walking. Can carry up to 80 kg. Max speed: 2m/s. Jumping height: 8cm
Manipulator High Torque
Lightweight Robot Arm
Manipulator Lightweight specs: 7 dof, 5 kg max payload, 0.8m reach
Hello-Robot Mobile Manipulator
Hello-Robot Specs: Includes a Mobile depth camera and a Laser range finder, 2-5 hour battery life, max speed 0.3m/s, 2kg max payload
