WIRobotics ALLEX

描述

ALLEX is WIRobotics' general-purpose humanoid, and the name is a contraction of ALL EXperiences — the company's argument being that a robot learns the world by touching it. Everything in the design follows from that: the arms, hands, neck and waist are compliant by construction, so the robot absorbs a knock and keeps going instead of resisting it or faulting out. The hands are the centrepiece. Each has 15 degrees of freedom in roughly the size of a human hand, repeats to 0.5 mm at the fingertip, pushes at least 40 N there, and can lift over 30 kg. It also detects about 100 gf of force without a force sensor, inferring it from the drive — delicate enough to feel a light touch while still being able to carry a load. That combination is possible because of the actuators. WIRobotics quotes roughly a tenth the friction and a twenty-fourth the rotational inertia of commercial units, which makes the joints highly backdrivable — you can push them and they give — and keeps the simulation-to-reality gap small, since a low-friction joint behaves much more like its model. A whole arm including the hand weighs about 9 kg, with the mass kept close to the body. Control runs at 20 kHz over EtherCAT with whole-body gravity compensation, so the robot holds itself up and interacts by force rather than by position. WIRobotics aims it at everything from delicate manipulation to heavy, high-impact work; the machine carries KOREATECH branding alongside its own.

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