![]() ![]() TOCABI is the result of a unique design solution for a scientific instrument used for robotics research while representing human form and the intent for human-like movement. At the same time, the human perception of how a robot moves is greatly impacted by the aesthetic and form of the robot, so a series of box-like body parts was not acceptable. ![]() While most robots seen in the media are covered by metal or plastic casings to hide the wiring and structural support, the need for constant access to the robots components in the lab would mean an exterior shell would almost never be used, as well as create additional difficulties when the robot needed to be modified. The design serves multiple purposes and posed unique challenges from both aesthetics and function. ![]() The robot was created in two stages (lower and upper body), with the lower body finished in 2014 and the upper body completed in 2021. It is 1.8 meters, 100KG and 33 degrees of freedom. TOCABI (Torque-controlled CompliAnt BIped) is a life-size humanoid robot designed from the ground up for research in humanoid robotics. Along with the years of development, there is little reference for how to design a humanoid robot – making it an innovative, exciting, and challenging design process. While movies and media provide endless visualizations and concepts of what humanoid robots will look like, in the entire world there are only a handful of life-size humanoids capable of walking and interacting with the environment. This project was more about exploring novel solutions and approaches to the design of a rare tool than a practice in working through compromises. In robotic design, this means a design should account for visual meaning (aesthetics), the goal of the robot (functionality), how long it will last (durability), and how researchers will interact with the robot (usability). The design of the robot was a collaboration between New Jersey Institute of Technology and Seoul National University.Ī well designed object simultaneously takes into account the aesthetics, functionality, durability, and usability. The torque-control and compliance algorithms controlling the robot help make human-robot interaction safer by limiting the energy put into the motors to only what is required for the expected tasks. TOCABI stands for Torque-controlled CompliAnt BIped. This type of virtual-to-real avatar has some important applications, including remote-work and one day enabling people with all sorts of physical disabilities to interact with the built environment in new ways. The cameras and audio equipment let the user have conversations in real-time, with abstracted facial animations created from the live audio of the operators voice. This lets a user enter into a "virtual" space, which is in fact a real-world streamed to their VR headset, and with hand tracking and foot pedals, can remotely control the robot by moving themselves and interacting with their virtual space. Unlike many of the animatronic robots available today, TOCABI is capable of walking and interacting with the environment in meaningful ways. The robot is capable of both autonomous control and being a remote avatar controlled by a person in VR. TOCABI is a life-size humanoid robot designed from the ground up for research in humanoid robotics. Results Announced for Community Choice Prize See All Winners TOCABI ![]()
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