LoCoBot

LoCoBot 低成本移动操作机器人Advanced

A low-cost mobile-manipulation research platform designed at CMU, built to pair with Facebook AI's PyRobot.

LoCoBot is a low-cost mobile-manipulation robot designed at Carnegie Mellon University (CMU), meant to be used with PyRobot, the open-source framework Facebook AI (now Meta) released in 2019, and sold commercially by Trossen Robotics. Its default configuration is a Kobuki differential-drive base, an Intel NUC mini PC, an Intel RealSense D435 depth camera, and a small WidowX robot arm (5 degrees of freedom, about 0.2 kg payload, and roughly 0.55 m of reach, per the PyRobot paper). PyRobot sits on top of ROS (Robot Operating System) and provides a hardware-agnostic Python interface for navigation and manipulation, letting deep-learning researchers who don't know ROS well control the real robot directly. Because it's inexpensive and can handle both navigation and grasping, it's a popular choice for budget-limited labs running experiments in embodied navigation, grasping, and sim-to-real transfer.

ExampleA point-goal navigation policy trained in the Habitat simulator is deployed on a real LoCoBot to measure its success rate and compare simulated versus real-world performance.

Related: Mobile Manipulation · Mobile Manipulator · Robot Operating System · Habitat · Point-Goal Navigation · TurtleBot
Sources: PyRobot: An Open-source Robotics Framework for Research and Benchmarking（arXiv）
LoCoBot（robots.ros.org）
As of: 2019-06