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OpenArm: An open-source 7DOF humanoid arm

github.com

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Re: OpenArm: An open-source 7DOF humanoid arm

#13

Post by donpdonp »

$6,500 for OpenArm v2. Incredibly smooth movement, 4kg of load per arm. Its unclear how far the level of autonomous control has come so far. The video shows mostly tele-operated operation. I have to agree with other comments here that folding laundry is the killer app.

Re: OpenArm: An open-source 7DOF humanoid arm

#16

Post by bluebarbet »

NegativeLatency wrote: post #2

Crosses fingers for a general purpose laundry folding bot

To me it does not seem like progress that, on a stressed and finite planet, humanity might "need" an energy- and resource-intensive machine to complete a task as physically undemanding (and even frivolous) as folding a sheet. But here we are.

Re: OpenArm: An open-source 7DOF humanoid arm

#17

Post by moffkalast »

donpdonp wrote: post #13

$6,500 for OpenArm v2. Incredibly smooth movement, 4kg of load per arm. Its unclear how far the level of autonomous control has come so far. The video shows mostly tele-operated operation. I have to agree with other comments here that folding laundry is the killer app.

One would expect it to at least have calibration and inverse kinematics solved. That's still a massive pain point for the SO-ARM101 despite it being so common now, since there's no base_link to gripper calibration nor sag compensation and every center offset stacks.

Lerobot banked on having full DL control of each joint so they wouldn't have to do that properly, but now VLAs just use inverse kinematics as a crutch and predict gripper offsets, so we're back to square one.

Re: OpenArm: An open-source 7DOF humanoid arm

#18

Post by drapado »

moffkalast wrote: post #17
donpdonp wrote: post #13

$6,500 for OpenArm v2. Incredibly smooth movement, 4kg of load per arm. Its unclear how far the level of autonomous control has come so far. The video shows mostly tele-operated operation. I have to agree with other comments here that folding laundry is the killer app.

One would expect it to at least have calibration and inverse kinematics solved. That's still a massive pain point for the SO-ARM101 despite it being so common now, since there's no base_link to gripper calibration nor sag compensation and every center offset stacks. Lerobot banked on having full DL control of each joint so they wouldn't have to do that properly, but now VLAs just use inverse kinematics as a crutch an…

Hi! do you have any references for VLAs using inverse kinematics? I'm very curious and can't find much

Re: OpenArm: An open-source 7DOF humanoid arm

#19

Post by hobofan »

ethanwillis wrote: post #10

A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments. When will someone release this but for deployment in target-rich environments?

I think in target-rich environments, the humanoid form is pretty easy to beat.
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