Le Lamp – an open source expressive robot

Summary

LeLamp An open source robot lamp based on Apple's Elegnt, made by [Human Computer Lab] This repository is an early work in progress. We published our progress early on as we believe early feedback leads to better design iteration. To contribute ideas, you're welcome to join our Discord. Project Overview LeLamp is being developed on two parallel tracks: 1. Modified SO101 Arm This version is for those who already own an SO-101 or SO-100 arm from The Robot Studio. We built it for quick prototyping. 3D files for modifications can be found in prints/modifications_for_so101/ . You'll need a SO101 or SO100 for this modification or any STS3215 based robot. The modification is a replacement for the gripper on these arms, effectively reducing the arm DOF from 6 to 5. Biggest thanks to Jennie and Lily for sponsoring the SO101 arms in this project. If you want to buy a kit at a discounted price, check out Seeed Studio 2. From Scratch Design Currently in development. This version will be our main model in the future, where we'll build new interactive paradigms and even imitation learning or general policies for real world deployment. You can view the live CAD model on OnShape Set-up for LeLamp on SO10x If you're using the SO10x arms, follow this to get LeLamp up and running. Initial Set-up If you're setting up the SO10x arms for the first time, best practice is to follow this tutorial first. There are 3 checkpoints you need to do: Motor Set Up Motor Calibration Teleoperation 3D Printing and Modifications After initial testing that the SO101 works. you can unscrew the gripper on the arm and start fitting the 3D printed lamp head. The 3D printed files are inside prints/modifications_for_so101/ . You'll need to print all these files: MotorMount : We designed a twist snap mechanism to quickly iterate on different lamp head designs. This will be attached to the motor horn on the robot arm. : We designed a twist snap mechanism to quickly iterate on different lamp head designs. This wi...