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title
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updated
2025-12-16 17:06:39
raw text
Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation Introduction Lead-through and Compliance VR Demos Repeatability Tests Step Response Position Bandwidth Torque Bandwidth This is Blue, a low-cost backdrivable 7-DOF robotic manipulator. This website is a companion to our paper (submitted to ICRA/RA-L 2019), and is intended to provide more detail into the technical capabilities of the robot as well as the metrics we used to characterize its performance. Lead-through and Compliance Here we record a set of joint states while a human guides the robot through an arbitrary set of motions. We then replay the recording and demonstrate the back-drivability of the arm by apply external force (through a second human). VR Demos A Virtual Reality system was developed using the HTC Vive and interfaced with our robot over ethernet. We developed an inverse dynamics solver that translates the 6-DoF contr...
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