ARTEMIS update 2024.04.20
* 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
* 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). She is first humanoid robot in academia that can run, and the 3rd in the world (after Honda and Boston Dynamics.)
* 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% electric actuation (vs. hydraulic actuation like Boston Dynamics’ ATLAS humanoid robot)
ARTEMIS Specification:
* Height: 1.42 m (4 ft 8 in)
* Weight (mass): 37 kg (82 lbs)
* 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 is partially funded by ONR (Office of Naval Research) and funds raised by a successful UCLA Spark Fund campaign.