Data_Sheet_1_Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies.pdf

To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human “pilot” with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features. To fulfill this need for a biomimetic test platform, we present Reachy, a human-like life-scale robotic arm with seven joints from shoulder to wrist. Although Reachy does not include a poly-articulated hand and is therefore more suitable for studying reaching than manipulation, a robotic hand prototype from available third-party projects could be integrated to it. Its 3D-printed structure and off-the-shelf actuators make it inexpensive relatively to the price of an industrial-grade robot. Using an open-source architecture, its design makes it broadly connectable and customizable, so it can be integrated into many applications. To illustrate how Reachy can connect to external devices, this paper presents several proofs of concept where it is operated with various control strategies, such as tele-operation or gaze-driven control. In this way, Reachy can help researchers to explore, develop and test innovative control strategies and interfaces on a human-like robot.时至今日，尽管机器人设备的运动性能持续提升，研发高效控制策略仍是类人机械臂领域的核心挑战之一。具体而言，为人类“操控者”提供驱动此类机械臂的高效方案，需在集成至成品系统前完成全面测试。此外，若需维持操控者与机器人之间的解剖学一致性，此类测试需采用具备类人特征的设备。为满足这类仿生测试平台的需求，我们推出了Reachy：一款从肩部到腕部共含7个关节的类人等比例机械臂。尽管Reachy未配备多关节手部，因此相较于抓取操作任务，其更适用于研究伸取动作，但可集成第三方现有项目中的机械手原型。其采用3D打印结构与商用现成执行器，相较工业级机器人的造价更为低廉。得益于开源架构设计，Reachy具备广泛的可连接性与可定制性，可适配众多应用场景。为展示Reachy如何与外部设备对接，本文展示了多项概念验证案例，其中Reachy可通过遥操作、视线驱动控制等多种控制策略进行操控。借此，Reachy可帮助研究人员在类人机器人平台上探索、研发并测试创新型控制策略与交互界面。