This is a personal open-source project focused on soft body robotics. Although the detailed design is still in development, the project’s high-level direction prioritizes intrinsic safety. The manipulator features a soft continuum mechanism to maximize flexibility and minimize inertia. Mobility is achieved through a three-actuator spherical drive system, enabling omnidirectional movement. To ensure safety during power loss, the design incorporates a low center of gravity (passive stability); this prevents the robot from toppling over, protecting the home environment and vulnerable occupants, such as baby and small children.

System Specifications

General Dimensions & Power

• Height: < 90 cm (3 ft)
• Weight: < 8 kg
• Operating Voltage: 24V – 48V
• Battery Life: > 16 hours
• Max Speed: < 0.7 m/s (2.5 km/h)
• Self-Maintenance: No
• Charging: Docking System Included

Manipulator (Arm)

• Payload: < 1 kg
• Degrees of Freedom (DoF): > 4
• Type: Deformable soft body

Safety

• Stability: Passive stability (Self-balancing/Righting on power loss)
• Mechanism: Pinch-point free design
• Materials: Flame-retardant plastic
• Ingress Protection: Waterproof

Perception (Sensors)

• Primary Vision: Head-mounted cameras (Front & Back)
• Secondary Vision: Head-mounted cameras (Side), Body-mounted cameras (Front & Back)
• Environmental: Temperature, Humidity, Ambient Light
• Audio: Microphone array

Interaction (HRI)

• Visual: Digital Eyes, Interactive Lighting
• Audio: Speaker
• Expression: Whole-body motion

Ideas from

More details are coming soon…