> Robots & lab
Experimental Room
Our main experimental room contains a 5.5 x 6 m experimental 'arena' made with aluminium trusses. It is equipped with:
- a 6D motion capture system (Optitrack), with 8 gibagit cameras (Prime 13);
- 4 high-power, studio lights;
- 3 mobile 19'' racks (on wheels), which host the power supplies and the computers to control the robots;
The trusses support the motion capture system and the lights, and hold all the cables (network, 220V, etc.).
Humanoid robots
We use a Talos robot (full size, 100kg, torque-controlled) and an iCub (child-size).
Hexapod robots
The last version of our 6-legged robot, which was featured on the cover of Nature (see :doc:`publications`). Videos are available on the video page. This 6-legged robot is made with 18 MX-28 dynamixel actuators, a Xsens Mti-30 IMU, and a Asus x-tion (RGB-D sensor / Kinect). The silver spheres on top of the x-tion are for the motion tracking.
This robot is a demonstrator and a testbed for our adaptation algorithms. It has no direct intended application, but the *algorithms* that we test with it have appplications.
Creadapt robot (wheel-leg hybrid)
The Creadapt robot is wheel-leg hybrid robot that was developped in a previous project (ANR `Creadapt
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