Page 147 - Toucpad robotics C11

Lower Arm and Upper Arm
Description: These are the primary links that extend from the waist. The Lower arm connects to the waist, and the
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Upper arm connects to the lower arm via a joint (like an elbow joint). These links are crucial for extending the robot’s
reach and positioning its end-effector.
Referencing Image: Both the Lower arm and Upper arm are distinctly labelled as segments of the manipulator in
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the diagram.

A Single AI Model Controls a Humanoid Robot---Incredibly Realistic Movements

Boston Dynamics’ Atlas, in collaboration with Toyota Research Institute, now uses
a single Large Behaviour Model (LBM) to walk, reach, and manipulate objects—tasks
previously handled by separate AI systems.
BRAINY This unified model processes visual, sensor, and language data to enable Atlas to adjust
FACT
stance, pick items from low positions, and even recover dropped objects—without being
explicitly trained to do so.
The breakthrough mirrors how large language models unexpectedly learn new skills, offering
a milestone toward robots that can generalize and adapt in real-world environments.

Wrist
Description: The wrist is a complex part of the manipulator, often consisting of multiple joints (typically two or three
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revolute joints close together). These joints provide the manipulator with dexterity, allowing the end-effector to be
oriented in various ways, similar to how a human wrist moves.
Referencing Image: The Wrist is clearly labelled as the section connecting the upper arm to the gripper mounting
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flange, with curved arrows showing its multiple rotational capabilities.

Gripper Mounting Flange
Description: This is the very end of the manipulator arm, a flat surface or attachment point where different
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end-effectors or tools can be bolted on. This modularity allows the robot to perform various tasks by simply swapping
its tool.
Referencing Image: The diagram shows the Gripper mounting flange at the very tip of the arm, indicating where a
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gripper (like the one shown on the left) would be attached.
Motor
Description: Inside or near each joint, there is typically an electric motor (often a servo motor for precise control,
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as discussed previously). These motors are the ‘muscles’ that provide the power to rotate or extend the links at
each joint.
Referencing Image: The diagram explicitly points out a Motor component at the base of the arm, highlighting where
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the power for movement originates. Implicitly, there would be a motor for each joint allowing movement.

Power Cable
Description: This cable supplies electrical power to the motors and other electronic components within the robot’s
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arm, connecting them back to the main power supply or battery.
Referencing Image: The Power cable is shown running along the side of the arm, illustrating how power is distributed
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throughout the manipulator.
The number of joints (degrees of freedom) a manipulator has determines its dexterity and ability to perform complex
tasks. To reach any point in 3D space and orient an end-effector (like a gripper) in any direction, a robot typically needs
at least six degrees of freedom (three for position, three for orientation).
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Applications of Robotic Systems