The Dexterous Torso, designed by Energid in collaboration with Cinvestav, is a humanoid torso with two hands, a waist, and independently directed camera eyes.  With two three-fingered hands, it can lift 400 grams in cooperative actions.

 

With two additional degrees of freedom at the waist, the torso has the property of redundancy and bifurcation which enables placement of either hand at a desired position and orientation within its workspace in an unlimited number of ways. Combined with Energid's Actin-SE, it can exploit both redundancy and bifurcation while optimizing other criteria.

Mechanical Structure: 24 DOF including two four-DOF grippers, two five-DOF arms, a four-DOF head, and a two-DOF waist. All arm axes can be controlled simultaneously. 

Specifications:

Torso Axes Range

• Shoulder base 300 degrees
• Shoulder Pitch 180 degrees
• Shoulder Yaw 300 degrees
• Elbow Pitch 100 degrees
• Wrist Roll 180 degrees
• Wrist Yaw 180 degrees
• Wrist Pitch 180 degrees

Head Specifications

• Roll/pitch plus two independently articulated eyes(4-dof total)
  
• Cameras:
• Sensor: Sony 1/3" progressive scan CCDs, Color/BW
• Resolution: 648x488, 1036x776 or 1296x964
• Frame Rates: 60 (BW/COL), 30 (HIBW/HICOL), 20FPS (13S2)
• Interface: 6-pin IEEE-1394a 400Mb/s interface

Other Specifications

• Rated Payload: 400 g
• Rated hand speed: 0.4 m/s
• Joint speed: 75 rpm
• Reach 120 cm
• Repeatability: 0.1 cm
• Interface: USB
• Two on-board PC-104 computers--one for perception and one for planning and control.
  
• Driver support for Windows and various flavors of Linux. 

The torso comes with Energid's  Actin-SE visualization, reasoning, and control software allowing it to perform advanced control by exploiting its many degrees of freedom. With available networking software, it can be controlled remotely through a local area network or over the Internet.

Some movies of the robot in action can be found in our knowledge section.  

 If you would like to buy one or just have questions, please contact us.