ARTEMIS: Advanced Robotic Technology for Enhanced Mobility and Improved Stability

* Please consider contributing to our crowd funding campaign for the next generation ARTEMIS! * UCLA SPARK Fund Campaign 👇 ARTEMIS Humanoid Robot • ARTEMIS (Advanced Robotic Technology for Enhanced Mobility and Improved Stability) is a full-sized humanoid robot developed at RoMeLa (Robotics & Mechanisms Laboratory) at UCLA, designed from ground up for highly dynamic locomotion with new technical innovations. • ARTEMIS is being developed as a “general-purpose humanoid,” with a focus on studying dynamic bipedal locomotion on unstructured environments. • ARTEMIS is also being developed as a soccer player robot for the autonomous robot soccer competition, RoboCup. The official goal of RoboCup is to have a team of robots play against the human WorldCup champions and win by the year 2050. RoMeLa is a 5-time World Champion in RoboCup. Notable Performances: • ARTEMIS can walk up to 2.1 m/s (fastest walking humanoid robot in the world s far as we know) • ARTEMIS can walk on uneven, rough, unstructured terrain - can walk on a rubble pile with randomly scattered wooden planks, blocks and boxes, etc. • ARTEMIS is very robust against external disturbances - can balance even when pushed or kicked ‘very strongly.’ • ARTEMIS can run (with a flight phase with both feet off the ground) and is the 4th in the world as far as we know. • ARTEMIS can jump with a ‘significant air phase.’ • ARTEMIS operates untethered, with all power (battery) and computations (computers) onboard. Notable Technical Innovations: • ARTEMIS uses custom designed torque-controlled, “proprioceptive actuators” (vs position-controlled servo motors) which behaves more like biological muscles. This enables it to make it run and walk on uneven terrain. • ARTEMIS is 100% electromechanical actuation. Additional Technical Innovations: • Topology optimization-based structure design, analysis and manufacturing. • Unconventional hip orientation for better torque distribution between yaw and roll actuators. • Optimized inertia for dynamic locomotion: Minimize distal mass, Relocate actuators using linkages. • Robust touchdown sensing: New type of front and back single-axis foot force sensor that replaces the conventional fragile F/T sensors. Overload protected. ARTEMIS Specification: • Height: m • Weight (mass): 37 kg • 20 Degree of Freedom (DoF) ⁃ 5 DoF per leg ⁃ 4 DoF per arm ⁃ 2 DoF neck • Actuators: custom designed torque-controlled proprioceptive actuators • Power: x4 100Wh Lithium battery • Sensors ⁃ x1 ZED 2i stereo camera ⁃ x2 RealSense D435i ⁃ x1 Microstrain IMU ⁃ x2 Custom foot loadcell Fun facts: • ARTEMIS is considered female (In ancient Greek religion and mythology, Artemis is the goddess of chastity, hunting, and the moon) • Officially, ARTEMIS stands for “Advanced Robotic Technology for Enhanced Mobility and Improved Stability” • Internally, ARTEMIS stands for “A Robot That Exceeds Messi In Soccer” • ARTEMIS wears regular shoes made for human, and she wears size 4. ARTEMIS prefers #Nike. #justdoit • ARTEMIS is partially funded by ONR (Office of Naval Research) and funds raised by a successful UCLA Spark Fund campaign. • ARTEMIS will be participating in the Adult size Humanoid division for RoboCup 2023 in Bordeaux, France July 4-10, 2023. She shall bring the converted “Louis Vuitton” trophy to the United States by becoming World Champions. (RoMeLa is a 5-times World Champions in RoboCup) • ARTEMIS will be taking regular bi-weekly strolls on UCLA campus to meet and inspire students in STEM. ARTEMIS will also be practicing her soccer skills on the UCLA Intramural Playing Field starting this Spring. • First introduction of ARTEMIS: #humanoid #robot #ARTEMIS #bipedal #locomotion #RoMeLa #UCLA #robotics #engineering