Perception is part of embodiment. Very excited to share Duke Humanoid V2. It's our 2nd fully open-source humanoid, with a new design principle that can be helpful in designing robots beyond humanoids.
Currently, a humanoid can physically reach an object and still be unable to see it in the configuration needed to manipulate it. This is mostly due to our bias in designing humanoids by copying humans to put cameras where our eyes are.
So instead of designing perception after the body is built or simply copying humans, we study whether sensing and embodiment can be designed together from the beginning.
We introduce Visible-Reachable Workspace (VRW), a design principle that measures not just where a robot can reach, but where it can reach and perceive at the same time.
Using VRW, we designed Duke Humanoid V2 with two independently actuated RGB-D cameras. Similarly to our Argus robot (
generalroboticslab.com/Argus), this robot doesn't have a front/back or left/right.
• Visible-reachable workspace increases from 38% → 97%
• A second independent view increases concurrent two-region coverage from 0.45 → 0.95
• In two-target manipulation, the robot is 17% faster and uses 19% less mechanical energy
• It can simultaneously observe and manipulate targets across front/back and left/right workspaces, without reorienting its torso
The broader idea goes beyond this robot. Perception is part of embodiment. Robot morphology, sensing, and control should be designed together around the physical tasks the robot needs to perform.
And just like Duke Humanoid V1, we are making Duke Humanoid V2 fully open source. Hardware, software, models, and more have been made available for the community to build on.
🤖 Project, paper, videos, and open source:
generalroboticslab.com/DukeH…
Huge congratulations to the team, especially the leading author,
@XiaBoxi , our postdoc member in Duke General Robotics Lab, for bringing this robot to life.