Robot Lab

Two robots are mounted to tables. The left robot is playing the hot-wire game, the right robot is holding a bowl and making a salad.

© Daniel Sliwowski

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Robot arms

At the moment, we have two 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.

A photo of two haptic devices, placed on a table next to eachother.

© Daniel Sliwowski

Robot Lab Haptic Device

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.

A photo of a kitchen. The funiture is white. In front is a island with an induction stove, in the back are shelves and a sink.

© Daniel Sliwowski

Robot Lab Kitchen

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.

The human's pose is captured and displayed as a blue figure. The movement of the person is transferred to the TIAGo++ robot, which stands next to the person.

© Esteve Valls

Motion Retargeting with TIAGo++ roboter

Retargeting the human motion to the humanoid TIAGo++ robot

Humanoid Robot

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, a mobile base and various onboard sensors. Among other things, the robot can be interacted with via an integrated touchscreen, loudspeaker and microphone.

Movement Lab

A photo of two force plates.

© Daniel Sliwowski

Motion Lab Foce Plates

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.

Two people facing each other carry out an experiment in which an object is moved collaboratively. The arm movements of the two participants are recorded with a motion capture system. Two cameras of the motion capture system attached to the ceiling can be seen in the background.

© Johannes Heidersberger

Motion Capture System

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.