ROBOTERA： Live Demo 12-DOF Hand & L7 Humanoid Robot

But this is the oddball. Wait a minute. How do you go from 11 to 12? Where did you add that? Did you add in there? And we know where it is. We're going to figure it out, because we figured it out before. Because I think we saw this hand on another robot. Oh, really? Yes, I think so. So to go from 11 to 12, all you need to do is add this. Yes. And I'm going to prove it right now. Because this hand is over here on your robot. Okay, let's see. And so we can see the hand is here right now. Yes. We can see it. Oh, wait a minute. I'm feeling that. Back drive the belt. There's not a tendon inside, is there? Yeah, it's all completely with gearbox. Gearbox. And where are the motors? They're built right inside. Right in here with a gearbox. Aha. So the phalanx is actually the motor. Yes. And we have two degrees of freedom here at the CMC. It's back drivable. Oh, it's very back drivable. And I can feel it both ways. There is definitely no tension. There's no tendons in there. But the trick is we have these things that are able to do that in that. But this one goes and abducts. That's where the 12th one comes. So without that, this is 11ed off. And then look at that big fingernail. We saw this about a week or so ago on a bot that was announced out of the UK. By the name of Humanoid. Yes. So that's the hand. We've been trying to figure out whose hand it is. And now we know. And you left the 12 off with the giveaway. Yes. I'd never seen 12 off before. So that was absolutely great. Now, you have some examples of those hands. Yeah. Right. Let's go take a look. Let's go take a look. Excuse me? Yeah. All right. This is the 12 off. This is the 12 off hand right here. And we call it X-Hand 1. This is our best-selling, actually. We've been selling beyond the 500 units. So that's the 12 off. Now, you have some other hands here. Yes. Actually, as a special perk to Scott. We are... It's actually not officially released, but it's a perk for you. Sure. This is our prototype for our next generation hand with 21 off. That's the 21 off we saw on the poster. Yes. And I wondered where 21 is. And it's going to be right there. Additional dot right here. Exactly. Maybe it's the $1,000 question. Yeah. How much do they cost? When if we bring it up there, it only has to worry about what's down there. Now, as far as the knee, aha, remote actuation. Yes. So the knee actuator is up here, right? It's in here. It's actually split in two. Okay. Oh, that's even more clever. So here we go. There's actually two actuators there. One is the knee. That's even better because this is now in line with the rotation of the flexion. And what that means is that it's lined up, even though it's massive, it doesn't have a whole lot of rotational inertia. That's what's important. As soon as you start offsetting it, then it becomes very difficult and you don't have the gravity loading that you get from that. So that's very nice, which means no matter where you are, no matter where you are in the, um, I say the movement, the gravity loading of this doesn't change because if I'm like this, I don't feel the weight of that actuator. Yes. Right. If I come up here, suddenly that is weighing me down. So all you're feeling is actually the mass of your knee. We can see you get a linkage that comes through here that brings it to that point. And then the same thing. We do not want distal mass. We want our mass to be as proximal as possible. You don't put it down here at the ankle. Universal joint down here. Two rotary joints up here. A tie rod that goes there tied with a spherical joint or a heim joint. And that means everyone already knows what this is called. Rotational spherical university. This is considered an RSU type of ankle. So that's well done. Well done. Now we're going to come to the magic in here, which is how the waist is done. Guess what? You know what I call this waist? Oh yeah. This way is good. Let's see. I can go ahead and get that over there. Shake hands. Yep. Okay. So, um, I'm here. The company Roberta. No, it's robot era. That's really clever. Yes. And we're going to start with the hands. They actually do have a robot on here. Their own robot. Yes. But I think it's interesting to look at the hands because we've been looking at hands a lot. And I'm really glad you have them out here. And everyone that's been following the podcast knows we're always counting degrees of freedom. Yes. And trying to figure out how they go. And we're familiar with like an 11 dog hand. Yeah. Everyone kind of knows that you're missing one of the IP joints. You just have flexion extension. And you have some down the thumb. So we got two, two, two, two. That's eight. And then the thumb, we're going to have three because the CMC joint has two dogs down there. 11. No problem. 21. We kind of figured out you put a couple other IP joints on there. And I'm with a thumb. Yeah. They have a little bit of rotation. We'll work in an example for the, how the 21 works. But this is the odd balls. Wait a minute. How do you go from 11 to 12? Where did you add that? Did you add in there? And we know where it is. We're going to figure it out because we figured it out before. Because I think we saw this hand on another robot. Oh, really? Yes. I think so. So to go from 11 to 12, all you need to do is add this. Yes. And I'm going to prove it right now. Oh. Because this hand is over here on your robot. Okay. All right. Let's see. And so we can see the hand is here right now. Yes. We can see it. Oh, wait a minute. I'm feeling that. Back of the belt. There's not, there's not a tendon in sight, is there? Yeah. It's all completely with gearbox. Gearbox. And where are the motors? They're built right inside. Right in here with a gearbox. Aha. So the phalanx is actually the motor. Yes. And we have two degrees of freedom here at the CMC. It's back drivable. One degree. Oh, it's very back drivable. And I can feel it both ways. There is definitely no, there's no tendons in there. But the trick is we have these things that are able to do that in that. But this one goes and adducts. That's where the 12th one comes. So without that, this is 11ed off. And then look at that big fingernail. We saw this about a week or so ago on a bot that was announced out of the UK by the name of Humanoid. Yes. So that's the hand. We've been trying to figure out whose hand it is. And now we know. And you left, the 12 off was the giveaway. Yes. I'd never seen 12 off before. So that is absolutely great. Now you have some examples of those hands. Yes. All right. Let's go take a look. Excuse me? Yeah. All right. This I think is the 12 off here. This is the 12 off hand. Yep. Right here. And we call it X10-1. This is our best selling actually. We've been selling beyond the 500 units already. And so we've been liked by a lot of customers. One thing to note about 12 off hand is that we have tactile sensors on the fingertip for each finger. So it's a three-dimensional tactile sensing array. It has more than 120 output, but actual dots is probably 25-ish. So you have lots of output of the tactile sensor, three-dimensional. And it's very backdrivable. Yes. I can see. So the type of thing, you could hit it. It's not going to get damaged from that. It will respond. Yeah. And that means because you're using actuators, you have as much strength and extension as you do inflection. Yes. What is the grip strength? Sorry? The grip strength? At the fingertip, it's 15 Newton. Okay. 15 Newton. And what it is down here at the... So with the maximum lever. So it's 15 Newton. 15 at there. Okay. So back here, it's going to be a bit more. Very right. I'm trying to carry something. That's where I want to really hold it. This is just going to keep it from falling out. Usually I hold things down there. We did a carry test. Actually, if you have your payload loaded right here, it's going over 25 kilograms for that cross-section. Okay. Now, 23 kilograms is a checked bag. So that means... Yeah. So 25, you're two over. So if you're able to actually check your bag in, that's 23 kilograms. That's a standard. That's the way I think about it. And again, so that means you can lift that bag with this. Okay. So that's the 12 DOF. Now, you have some other hands here? Yes. Actually, as a special perk to Scott, we are... It's actually not officially released, but it's a perk for you. Sure. This is our prototype for our next generation hand with 21 DOF. That's the 21 DOF we saw on the poster. And I wondered where 21 is, and it's going to be right there. Right here. Exactly. So additional opposition. So let's see. I will give some introduction right here, because as a prototype, I won't be able to release every feature to you. But one thing to know that we have four tactile coverage for an entire space, including from fingertip to the pad, and to here, to the palm, to here, and here. So this tells difference, and this differentiates us from other high-degree freedom hands. And otherwise, let me see. Yes, we have direct drive features still, and we try to be as spectrable as much as possible. So that's basically pretty simple. That's interesting. So the motors are right in there, and then you're using a transmission to be able to get it around to actuate that. Okay. And that makes it very strong, because you've got more space here than you do directly at the joint. Okay. Now, if we look at the... Well, I guess let's start here. That's four DOF, because we have ab abduction, and we have deflection extension into it. So that's four, plus four, plus four, plus four. That's where we get 16. Yes. Okay. So now we've got to come up with another four to get ourselves to 20, and that's clearly happening here on the thumb, correct? So we have the two IP joints here, and two degrees of freedom down here at the CMC joint. Yes. And then the 21st one sneaks in here, right there on the palm. Now, what that means is that it's a lot easier for you to do these different kinds of opposition. Yes. Oh. Have you tried the Kapunji score? Actually, we haven't tried that yet. Okay. But I will report to you once we got that. Okay. Gustav always wants to know what the Kapunji score is, and see if he can get a score of 10 out of that. There's probably a couple... Now, another thing that he will like is, of course, whether... We'll be very careful and gentle here, is how flat you can get the thumb. Sometimes thumbs will come down like that. And ideally, you want not only for you to be able to test that your thumb is flat, but to get your thumb to come up a little bit back. Back. Just a little bit back. So that's like one other little test. Okay. But it is fairly flat. I mean, you are getting it reasonably flat, pretty close to what you need to be for full dexterity. Yes. Awesome. Now... That's our... This means anyone who's building a robot arm and they need a hand, they're able to buy that from you. Yes. And we, our... The last product is that we call the X10-1 Lite. Yep. This is the one you had 11 in total. But of course, there's some linkage. So under actuation. So here we have a fixed active doff. The actuators are there. Yes. Inside. It's actually using the same motor as the X10-1. So that we can really make the reliability close up. So for those of you in lower budget and also just want a very simple task, X10-1 Lite is your choice. Yes. And again, it is... It is backdrivable. Yes. And the fingers are very... Very, very clean. Compared... Because here they're a little bit bigger, they're a little bit bulkier, but that's okay. So certain applications, you may want something to be thin. Sometimes just having lower doff is okay. Now what you can do because it's backdrivable and it comes on in here. Let me see. I think you can do a... Okay. So you're closing them down at the same time as you are doing the flexion. So you get a full flexion like that and it comes back. Now, here we go. The $10,000 or the $20,000 or maybe the $5,000 or maybe it's the $1,000 question. Yeah. How much do they cost? You mean cost? Cost. Yes. If I were... All right. I can now tell. I've used it once. No, but if I want to buy one... Oh, you mean the price? The price. Yes. The price. Okay. So for retail price for this one, we have $16,000 USD. $16,000. Okay. USD. And for this one, we have lower. It's $4,000, sorry. $4,000. $4,000 USD. Okay. That one's not announced yet? Actually not announced yet, but definitely not that low. So we are probably looking at somewhere at $40,000. Okay. $40,000, but it's really up to you guys. What do you think about that? And we can leave a message. Let me know. Okay. So that's the higher dot. So this one here is, you said it's like $16,000. Yeah. $16,000. Yeah. $4,000. This one is really not determined yet. We're looking at somewhere at $40,000-ish. Yep. Let's see. All right. So now we're done talking about hands. Let's see. You also have a humanoid. Yes. What is your intention with the humanoid? Are you going to be selling this? Is this an R&D platform? Actually, we have right here. Okay. We have an entire fleet of humanoids. We have both bipedal, wheeled, and the upper body. Yes. And for the bipedal, of course, we want to show the most human-like behavior, like moving of your body. And we actually can do breaking dance on the floor. And also, the really giant hip. If you look at it, it's a 400-newton-meter rock. Very powerful. It offers this very high payload. It's usually used for carrying weights and carrying heavy-duty tasks in factories. That's why we have L7. And for a very, very close-by product, which we call N7, it's basically the upper body of the L7. But we designed it to be really, really compact, so that researchers and POCs in pilot factories can be deploying this in bigger scale. Actually, we're selling this M7 very good. Because in factories, contrary to navigation, it's not very settled right now. But we want to have you load up a task force in logistics. Very simple assembly line. Recently, RoboEra has some pilot program. Progress. Very good VOA and doing all the sorting things. Okay, great. So Q5 is really designed for commercial service. Guiding you, doing performance, and maybe serving you later on in your kitchen. Yes. Okay, eventually maybe making it into the home. So now we can take a look. Because you're actually quite aware. Actually, our L7. All right. So what we usually do, what we like at the podcast, we like kind of starting at the hips. Because I've done a breakdown on the hip design. Sure. And there's different ways of organizing this. Sure. And this is what I call an ARF hip. So we've got abduction. Oh, sorry. This is a raft. It's got rotation, then abduction, and then flexion. Yeah. So the flexion is after everything else. So it sees lower reflected inertia. And you have a very powerful actuator here, which means you have a lot of power going forward. And this isn't worrying about carrying the payload of that. Because we can see each of these is substantial in mass. So why do we have to have this guy carry that and the motor that's back here? When if we bring it up there, it only has to worry about what's down there. Now, as far as the knee, aha, remote actuation. Yes. So the knee actuator is up here, right? It's in here. It's actually split in two. Oh, that's even more clever. So here we go. There's actually two actuators there. One is the knee. That's even better. Because this is now in line with the rotation of the flexion. And what that means is that it's lined up. Even though it's massive, it doesn't have a whole lot of rotational inertia. That's what's important. As soon as you start offsetting it, then it becomes very difficult. And you don't have the gravity loading that you get from that. So that's very nice, which means no matter where you are, no matter where you are in the, I say, the movement, the gravity loading of this doesn't change. Because if I'm like this, I don't feel the weight of that actuator. Right? If I come up here, suddenly that's weighing me down. So all you're feeling is actually the mass of your knee. We can see you get a linkage that comes through here that brings it to that point. And then the same thing. We do not want distal mass. We want our mass to be as proximal as possible. You don't put it down here at the ankle. Universal joint down here. Two rotary joints up here. A tie rod that goes there tied with a spherical joint or a heim joint. And that means everyone already knows what this is called. Rotational spherical university. This is considered an RSU type of ankle. Where back drivable. We can get pitch. We can get roll. We get torque sharing for pitch because the two work together. And very good. There's two ways to do this. You could have mounted these things back that way. But you did it to the side. When you do it back this way, both these tie rods get in the other's way. This is the better way to do it. Because if you see over here, that tie rod is not in the way of this one over here. So they can move independently. When you turn them around coming back this way, sometimes they get in their way. And you will notice that I believe Unitree does it that way. And AGI Bot also has it coming back. So this is the better way to make sure the movements of these do not interfere with each other. Now the only thing that's interesting about this, I've shown this before. Because this is a universal joint, you'll notice we still have a little bit of movement here. But it's necessary because when we go out of plane like that, you need to have the rotation of that joint. So this is a great illustration of how that works. We've talked about this a lot in the podcast. We absolutely love that. But this, that's the right way to do it. I see. Having them coming from the side. So that's well done. Well done. Now we're going to come to the magic in here, which is how the waist is done. Guess what? You know what I call this waist? It's using the same type of actuation strategies down here. I see. So we can see there's a universal joint or a carton joint right in there. We can see there are these two actuators. We can see there's a tie rod that comes on down here. I call this a kidney style waist because both of these actuators are right where your kidneys are. So the packing density is really nice. You don't have them offset like you might here. You're able to use the space very effectively without them coming up too high. So this is a familiar mechanism we've seen with a lot of them, but it's great. And you must see, I think you have a rotation. Let's see. There's three in here? Three. Yeah, three degrees of freedom. So you get that third degree of freedom. I'm trying to see how you get that third degree of freedom. Can we rotate it? Let's see. I'm not sure. Do we lock it? Because that's on there. I don't see. I see something that potentially could. I think that's locked into place. That couldn't rotate without everything getting in the way. This might be a two doff. Probably because we lock it. Did you see that? We add additional braces. Okay. This is our torso lock. Okay, okay. This is like additional. Ah, okay. For shipping purposes. Yeah, for moving it. Yeah, yeah, yeah, yeah. Yeah, yeah, now you see. Additional braces. Okay, because I'm looking and I said mechanically it won't work. This is when you ship it. Yes. And you have it sitting up here with the power off. So if that gets removed, we can see right here is the rotation for that axis. So it's a three doff waist. No doubt about it. Okay. And then we come up to the top here and we have here is what I would call a far shoulder because we have flexion. And then here we have abduction and rotation along there. That's standard. Everyone does that. Yes. The only thing you might consider is taking that and angling it up just a little bit. The reason is you avoid the singularity. So if your arm is out straight like this, you're at the singularity. If you bring it up maybe 15 degrees. Yes. Be up here without being in that singularity region. That's the only thing. Some other arms do that. Actually, we have a little bit of improvement in our L7 model. Ah, okay. What you see right here is what we call the generation right before L7. Okay. And that's what you learn from those. So I have a feeling that you're doing that. Yes. It's sort of a practice right now. The question is, do you go seven, eight degrees or 10 degrees? A lot around 15 and some are going as steep as like 45. 45 might be overkill. I see. But I think you want to be no less than maybe 15. 10 is pushing it. I would start at 15. Yeah. And then see how that is. And then we'll know. Yes. But you're always going to hit the singularity. It's just a question of how high up. How high up. But you can kind of get around it. So if I need to get up a cupboard, I can get up that way. But if I'm trying to come up like this, however, put your arm straight out and how far up can you really go like this? I see. Not, yeah, some people can, but it starts to get uncomfortable. Usually we only operate there. I see. And then you'll be fine. Okay. The rest of this, we have the elbow joint. In that case, the actuator is built in. So it's actuated locally. And then we have a wrist. Now I'm sure your next generation wrist is going to be an improvement on here in that we have what looks like the yaw first. And then we have the pitch here. So ideally you would like to have both of them as close as possible. But because it's difficult to figure out how to build this mechanism, I think it's better to have pitch last like what you did here. This is more, the yawing, well, it's nice to have. You almost don't need it. This is the important axis in the wrist. I want to also follow up that this is being modified in our new version. I'm sure it has. But if you had to design a wrist like this, you had a choice, yaw or pitch or pitch or yaw, you do this first because now the pitch axis is closer to the wrist. And that's what you typically do. We don't use that that often. And the other thing is it makes sure the pitch axis isn't carrying the load of that actuator. So now your pitch axis is really able to get the strength that it needs for that kind of movement. So that's a good choice on order. Well done. Okay. So I think we've done. The head must have any degrees of freedom in the head? Two degrees. Okay. So I'm sure it's yes, no. So yes and no. All right. Thank you. I mean, it was great to be able to see another bot and do a breakdown of it. Yeah, actually, because it's, where's the flare? Where's my flare? Anyway, so the O7 is actually our current selling model. This is the one is our collaboration model that we sell from universities. So yeah, that's a one year old model. The thing is universities need something early. Yeah. Of course. And for like the first generation, not bad. I mean, really all the design choices. I don't see anything that I would really bubble with because you've got to get started really quick. Awesome. And again, it's like you did it right down there. Oh, awesome. Did that part right. Okay. Thank you. Great. Thank you. Oh, it's great. Yes. Okay. Can I take a photo with you? Oh yeah, absolutely. Absolutely. So I mean. With this robot. I'm sorry. I'm going to keep calling the robot Roberta. Robot era. Yeah. Let's take a photo. Okay. So here we go. With the robot? Yeah. You might have to get down. One, two, three. It looks like. Wow. We can try again without him. Look like he's falling asleep. Yeah. Tell you what. Okay. So. Oh yeah. This way is good. Let's see. I can go ahead and get that over there. Shake hands. Yep. One. One, two, three. Tell me, tell me, tell me. One, two, three. Awesome. Perfect. Okay. So post that. Yeah. And I'll repost it. Awesome. I will. And so I get this as a cool thing.