Lab Space
Robot Lab
© Daniel Sliwowski
Franka Emika Research 3 robot arms
Robot arms
At the moment, we have five Franka Emika Research 3 robots. They are 7 degrees-of-freedom robots, which means they can reach the same position and orientation in space in different ways. The robots are designed in a way to be safe to work alongside humans, which is important in our human-robot collaboration research.
© Johannes Heidersberger
Kinova Gen3 Robots
Kinova Gen3 robot arms
The two Kinova Gen3 robotic arms in our laboratory are characterized by their low weight and freely rotatable joints, which enable smooth and extremely flexible movements.
© Johannes Heidersberger
6-DoF robot arms
6-DoF robot manipulators
We currently have four robotic manipulators with 6 degrees of freedom, allowing them to perform complex manipulation tasks. Their compact design and modularity allows students to easily try out these robots in different applications.
© Joshua Göttlich
Custom built dual-arm robot system
Dual-arm robot
A dual-arm robot was developed in collaboration between the Autonomos Systems Lab and the Robotic Systems Lab. It consists of two Franka Emika Research 3, opens an external URL in a new window robots attached to a torque-controlled SensorJoint, opens an external URL in a new window torso motor.
© Daniel Sliwowski
The robot kitchen available in our lab.
Robot Kitchen
Our lab is focused on bringing the practicality of household robots into our daily lives. We're conducting experiments that center around everyday tasks, such as food preparation and serving, cleaning, and more. Our goal is to evaluate our work in realistic scenarios, which is why we've equipped our kitchen with numerous cabinets and drawers, a stove, a fridge, a dish washer, a microwave, and a sink.
© Daniel Sliwowski
TIAGo SEA humanoid robot
Humanoider Roboter
The humanoid robot TIAGo++ from PAL Robotics, opens an external URL in a new window is used in our laboratory. This robot has two 7-DoF arms, an omnidirectional mobile base and various onboard sensors. The compliant drive system of the robot arms has been specially developed for human-robot collaboration.
© Daniel Sliwowski
The quadruped robot available in our lab.
Quadruped robot
The quadruped robot Unitee Go2 is used in our lab. This robot has various sensors, including cameras and LiDAR, which, together with the four-legged actuation, enable it to move around in various environments.
© Johannes Heidersberger
Husarion Lynx Unmanned Ground Vehicle
Husarion Lynx Unmanned Ground Vehicle
The Husarion Lynx is a compact and sturdy Unmanned Ground Vehicle (UGV) platform engineered for reliable operation in both indoor and outdoor environments. Boasting a payload capacity of up to 65 kg, it serves as an ideal mobile base for advanced robotic systems, enabling seamless integration of sensors, manipulators, and other equipment for diverse applications.
© Daniel Sliwowski
The haptic devices available in our lab
Haptic Devices
At the moments we have two haptic devices:
- Omega 3 - a three degree of freedom haptic device. You can only influence the position of the handle.
- Omega 6 - a six degree of freedom haptic device. You are able to both influence the position and orientation of the handle.
The haptic devices allow us to teleoperate the robots. They are able to give force feedback, wchich means that when the robot hand bumps into something, the operator is able to fetl that via the device.
© Johannes Heidersberger
Seed Robotics RH8D dexterous robot hands
Seed Robotics RH8D Robotic hands
We currently have two robotic hands, each with 19 degrees of freedom and tactile sensors on the fingertips. These hands make it possible to perform tasks requiring dexterous manipulation.
© Johannes Heidersberger
Allegro Hands
Allegro Hand V5
The Allegro Hand V5 features a multi-joint design with 16 degrees of freedom, offering 4 degrees of freedom per finger like a human finger.
© Johannes Heidersberger
2-Finger Gripper Robotiq 2F-85
Robotiq 2F-85 2-finger gripper
The Robotiq's 2-finger gripper offers high precision, reliability and flexibility, making it suitable for a wide range of manipulation tasks.
© Johannes Heidersberger
The conveyor belt available in our lab.
Conveyor belt
An automated conveyor belt in our laboratory enables the investigation and optimization of production processes.
Movement Lab
© Daniel Sliwowski
The force plates available in our lab.
Force Plates
Our lab currently boasts two force plates. These advanced plates are capable of measuring the forces and torques in three axes, making them invaluable in studies that require an understanding of the forces exerted by humans (or humanoid robots) on the ground, particularly in locomotion studies.
© Johannes Heidersberger
AFT200-D80 6-Axis Force Torque sensors from Aidin Robotics
Force-torque sensors
Our laboratory currently has four force-torque sensors. These sensors are able to measure forces and torques in three axes. Thanks to their compact design, they can be attached to robots to record and control the interaction forces of the robot with the environment.
© Johannes Heidersberger
SenseONE 6-Axis Force Torque sensor from Bota Systems
© Johannes Heidersberger
Capturing the arm position using the motion capture system
Motion Capture System
Using the OptiTrack, opens an external URL in a new window motion capture system, infrared-reflecting markers can be recorded. Among other things, this enables arm positions to be measured with millimeter precision. Thirteen cameras are currently available in our laboratory.
© Johannes Heidersberger
The cameras available in our lab.
Cameras
A wide variety of camera systems are available in our laboratory. These can be used to capture image data, depth information and rapid changes in brightness to analyze dynamic scenes.
© Johannes Heidersberger
The Apple Vision Pro mixed reality headset available in our lab.
Apple Vision Pro
Apple, opens an external URL in a new window's mixed reality headset combines advanced sensor technology such as LiDAR, cameras for spatial recognition and precise eye tracking to enable immersive mixed reality experiences. It can be used to enable intuitive communication between humans and robots and open up new possibilities for interactive learning.