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 👇
https://spark.ucla.edu/project/36794

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: 1.42 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: https://www.ted.com/talks/dennis_hong_7_new_species_of_robot_that_jump_dance_and_walk_on_water/

#humanoid #robot #ARTEMIS #bipedal #locomotion #RoMeLa #UCLA #robotics #engineering

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