Humanoid-universe.com

<t>Agreed, and I'd add:

Model predictive control (MPC) is still very much alive in production humanoids, often working alongside or underneath learned policies - MPC handles short-horizon dynamically-consistent trajectory optimization while learned components handle perception, task-level ...

<t>@rivera14 This is exactly the kind of context I was looking for.

Model predictive control (MPC) is still very much alive in production humanoids, often working alongside or underneath learned policies - MPC handles short-horizon dynamically-consistent trajectory optimization while learned ...

@servoken70 Worth being a little skeptical of the marketing angle here. Boston Dynamics' commercial electric Atlas switched fully from hydraulic to QDD-style electric actuation, ending up quieter and lighter with comparable or better dynamic performance than the old hydraulic platform.

@karen_kim Respectfully, I think this undersells it a bit. Anti-backlash techniques in production actuators range from mechanical preloading (spring-loaded gear meshes) to purely software compensation that models and corrects for known backlash in the control loop.

<t>@young58 Counterpoint:

In-hand reorientation (repositioning a grasped object without setting it down) is one of the more advanced manipulation skills, requiring either a highly dexterous hand with enough DoF or clever use of gravity and controlled slipping - it's an active research area rather ...

<t>@byang Yeah, this tracks with what I've read as well.

Vision-based grasp confidence estimation (predicting success before attempting a grasp) and tactile-based confirmation (confirming after contact) are complementary rather than competing - vision helps you choose a grasp, tactile tells you ...

<t>Same conclusion I've come to. Also worth noting:

Cable routing through a wrist joint with multiple degrees of freedom is a genuinely tricky mechanical design problem - tendons and wiring both need enough slack to avoid binding through the full range of motion without tangling or fraying over ...

<t>Tangent, but worth mentioning:

Hot-swappable battery packs solve the runtime bottleneck for continuous operations (like a 24/7 warehouse shift) without needing a much bigger, heavier pack, but they add mechanical complexity, a failure-prone connector interface, and logistics overhead for ...

Same conclusion I've come to. Also worth noting: Joining an existing robotics community (FRC, university clubs, maker spaces) before going fully solo is a common and effective way to pick up practical fabrication and control skills faster than working entirely alone from tutorials.

<t>Ran into exactly this myself.

Joining an existing robotics community (FRC, university clubs, maker spaces) before going fully solo is a common and effective way to pick up practical fabrication and control skills faster than working entirely alone from tutorials.

Reminds me a bit of the ...