HUME
c. 2012
Hume was a research robot platform that Meka Robotics designed for Luis Sentis at the University of Texas at Austin. It was meant to allow research into high-agility motion planning etc. but it never quite got there. The grad students severely under calculated the torque requirements for the joints and Meka delivered what they asked for.
Hume was one of the first projects I worked on at Meka. It was a beautiful machine designed by Andy Metzger with circuits by Benjamin Valenti. My job was to bring-up the firmware and tune the actuators for good torque control.
LINKS
One of the final pictures taken before delivery.
Delivery day at UT Human Centered Robotics Lab.
Bring-up of a single actuator.
General testing of the actuators.