R1 Humanoid
2015-2018, Italy
Soft Skills:
Project Management, Problem-Solving, Effective Communication, Agile
Tools:
Microsoft Office, Redmine, LATEX
Technical Skills:
CAD Modeling, Prototyping, Robotics Engineering, R&D, Multibody Simulation, Electronics and Firmware Design, GD&T
Tools:
CREO, MSC ADAMS, GitHub, YARP (Yet Another Robot Programming Language), ANSYS, Python, MATLAB
Description
In the field of service robotics, the R1 personal humanoid was designed to seamlessly blend into human environments and provide assistance with a level of affordability previously unseen. In my role as a researcher and as part of my PhD work, I was instrumental in pushing the boundaries of challenging preconceived designs in humanoid robotics. I led the development of the robot's hands, which were not only mechanically sophisticated but also aesthetically pleasing, ensuring that the R1 could perform delicate tasks with human-like dexterity. The extensible wrist mechanism allowed for an enhanced range of motion, mirroring the fluidity of human gestures, thus enabling the R1 to reach and manipulate objects with remarkable precision.
The display optics of the R1, embedded within its 'head', were a product of advanced 3D printing techniques that I developed, which allowed for rapid prototyping and iteration of complex parts that would have been cost-prohibitive with traditional manufacturing methods. These optics were more than visual components; they were integral to the robot's interactive capabilities, housing sensors that enabled the R1 to perceive and understand its surroundings. My contribution extended into the realm of human-robot interaction (HRI), where I integrated elements that allowed the R1 to communicate with users through intuitive channels such as simulated eye movements and responsive gestures, making interactions feel more natural and engaging.
I also contributed to the multibody simulations: this simulation work was vital in preempting and solving potential navigational challenges, allowing the R1 to move with purpose and grace within complex human-centric environments and optimizing the mechanics of the robot.
Results
The R1 humanoid emerged as a triumph of fast and low-cost engineering and design, a testament to the project's success in marrying functionality with cost-effectiveness. The robot's ability to navigate diverse environments, manipulate objects with precision, and interact with humans through natural communication channels marked a significant milestone in the service robotics industry. The affordability of the R1, envisioned to be on par with that of a family car, was a groundbreaking achievement at that time and promised to democratize access to personal robotic assistance.
The project's results went beyond technical success; they represented a paradigm shift in how we approach the design and production of humanoid robots. The R1's development showcased the potential of polymeric materials, lightweight design, and novel actuation solutions to create a robot that was not only cost-effective but also robust and versatile. This project has set the stage for future innovations in the field, paving the way for widespread adoption of humanoid robots in everyday life and challenging the industry to rethink the balance between sophistication, interactivity, and affordability in service robotics.
Publications:
Parmiggiani, Alberto, Luca Fiorio, Alessandro Scalzo, Anand Vazhapilli Sureshbabu, Marco Randazzo, Marco Maggiali, Ugo Pattacini et al. "The design and validation of the r1 personal humanoid." In 2017 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 674-680. IEEE, 2017.
Anand Vazhapilli Sureshbabu, Marco Maggiali, Giorgio Metta, and Alberto Parmiggiani. "Design of a force sensing hand for the r1 humanoid robot." In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pp. 703-709. IEEE, 2017.
Anand Vazhapilli Sureshbabu, Jennifer Hong Chang, Luca Fiorio, Alessandro Scalzo, Giorgio Metta, and Alberto Parmiggiani. "A parallel kinematic wrist for the R1 humanoid robot." In 2017 IEEE International conference on advanced intelligent mechatronics (AIM), pp. 1215-1220. IEEE, 2017.
Anand Vazhapilli Sureshbabu, Marco Maggiali, Giorgio Metta, and Alberto Parmiggiani. "Design of a cost-efficient, double curvature display for robots." In 2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), pp. 1-6. IEEE, 2017.
Lehmann, Hagen, Anand Vazhapilli Sureshbabu, Alberto Parmiggiani, and Giorgio Metta. "Head and face design for a new humanoid service robot." In Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings 8, pp. 382-391. Springer International Publishing, 2016.
