Technology
Our current work combines correction-module design, robot motion measurements and simulation. The first tests establish a baseline; the module's performance will be measured separately.
Mechanical architecture
Correction module kinematics, bearings and a structural interface to the host robot, designed within the humanoid's payload budget.
Electronics & low-level control
End-effector IMUs capture acceleration and orientation to characterize the robot's motion. In parallel, we are developing the drives and electronics for the correction module.
Macro–micro control
A working whole-body controller supports custom movements and drawing while balancing. Simulation with welding-tool loads helps us explore energy-efficient postures before transfer to the real robot.
Experimental validation
Initial vision-based drawing and accuracy tests establish the robot's baseline. The correction module's accuracy, repeatability, bandwidth and stiffness remain to be validated on hardware.