We introduce the robots owned by our team.
HSR
HSR(Human Support Robot) is a mobile manipulator equipped with a single manipulator and was developed by Toyota. This robot primarily functions as a domestic service robot and is capable of performing a variety of tasks.
We use the HSR for research purposes and also as a platform for robot competitions. It was introduced to our laboratory in 2016.
G1
The G1 is a full-sized humanoid robot developed by Unitree. In our group, we are working on enabling this robot to perform tasks in domestic environments. For the hands, we equipped it with the Amazing Hand, which is released as open hardware by Pollen Robotics.
Although humanoid robots carry a risk of falling, leveraging the open-hardware framework offers the advantage of easier maintenance and repair.
Kachaka
Kachaka is a robot developed and commercialized by Preferred Robotics. This robot is capable of carrying a shelf unit called a “Kachaka Shelf.” We equip the shelf with a manipulator and various sensors so that it can be adapted to different tasks.
We also primarily use this robot as an educational platform for beginners who are learning robotics for the first time.
PiPER
Piper is a 6-DoF manipulator developed by AgileX. We use two of these manipulators to study dual-arm-specific tasks, imitation learning, and vision-language-action (VLA) models.
Due to its compact size, we also mount Piper on the “Kachaka Shelf.”
UR5e
The UR5e is a 6-DoF collaborative robot manipulator developed by Universal Robots. It is equipped with a gripper from OnRobot and is primarily used for evaluating tabletop tasks.
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