Current Robots

DRACO 3 Full Humanoid Robot

Apptronik SAGIT Force Amplification Exoskeleton

SCORPIO Compliant Manipulator

A1 Quadrupeds

DRACO 2 Line Feet Biped

1. 10 DOF Apptronik liquid-cooled viscoelastic actuators
2. Apptronik Medulla / Axon embedded controllers
3. Tactical IMU
4. Whole-body controller
5. Phase space dynamic locomotion planner

Former Robots

Mercury Bipedal Robot

1. 6 DOF SEA actuators
2. Torque sensing for all DOFs
3. Apptronik Medulla / Axon embedded controllers
4. Whole-body controller
5. Phase space dynamic locomotion planner

Dreamer Mobile Humanoid Robot

Upper Body

1. 1. 7 DOF compliant arm with Series Elastic Actuation
   2. 3 DOF torque controlled torso
   3. 5 DOF compliant hand driven by tendon actuators
   4. Trikey compliant holonomic mobile platform
   5. Ethercat realtime communications
   6. Realtime RTAI kernel
   7. ControlIt! whole-body controller

Appronik P170 Actuators

1. Compact Series Elastic Actuator
2. High Power and High Efficiency
3. Used for studies on exoskeletons, compliant locomotion and remote training

Trikey Mobile Base

Mobile base

1. Holonomic platform
2. Torque sensing on all wheels
3. Ethercat realtime communications
4. Untethered

Meka-UT Austin Dreamer Head

1. 4 DOF position controlled neck
2. 3 DOF eyes capable of fast Saccade movement
3. Stereo cameras on eyes
4. Ears rotate and flex to express social gestures
5. Ears, change color: pink, blue, white, and green
6. Ethercat realtime communication bus