Index ¦ Archives

Robotics resources

Here are some resources for robotics (software and hardware) that I have found useful and/or interesting. It's still incomplete but it's a good start.

RobotsLand

Robotics Software & Simulation

  • ROS. The "Robot Operating System": A bit of an overloaded name - it is not truly an operating system - but it is an open-source middleware layer that interfaces with many robots and sensors and provides a useful visualization tool (RViz).
  • MuJoCo: Multi-Joint dynamics with Contact is a general-purpose physics engine (now under Google's DeepMind) that is widely used for robot simulations, constraint handling, and trajectory generation.
  • Isaac Sim: NVIDIA's PhysX-based engine used for robot simulation, multi-sensor RTX rendering, and digital twins with support for many off-the-shelf robots.

Recent AI Papers

Not covering much on classical robotics like SLAM, VSLAM, path planning, kinematics/dynamics, Jacobian matrices, CNNs, etc., but very helpful to have an understanding of them.

  • RT-1 (Robotic Transformer): A vision-language model for robot control that processes sequences of visual inputs alongside textual instructions through a transformer, producing motion commands that can drive robot actuators.
  • SayCan, Grounding Language in Robotic Affordances: A PaLM-based model that combines semantic knowledge with pretrained robot behaviors to execute complex natural-language instructions in real-world environments.
  • RT-2: A model that combines vision-language AI with robot control by expressing robot actions as text tokens, enabling better generalization and reasoning from internet-scale training.
  • Mobile Aloha: A low-cost teleoperation platform that enables robots (Aloha Kits) to learn complex whole-body mobile manipulation tasks from human demonstrations, successfully performing household activities through co-training with existing datasets.

Robot Foundation Models

  • Nvidia Cosmos: A foundation model platform designed for physical AI and robotics, offering diffusion-based world models for text-to-video and autoregressive world models for video-to-world generation. Trained on 20M hours of video, with model sizes from 4B to 14B parameters.
  • π0 from Physical Intelligence (π): Pi's first general-purpose robotic foundation model that can be fine-tuned for diverse tasks (folding laundry, cleaning, scooping, etc.) and can control a variety of robot types (dual-arm systems, single-arm platforms, mobile robots, etc.).

Robot Datasets

Sadly, there aren't many large datasets for robots out there yet.

  • DROID Dataset: A diverse robot manipulation dataset with 76k demonstration trajectories (350 hours of interaction data) collected across 564 scenes and 86 tasks.
  • ARMBench (released by Amazon): Contains over 190k objects in industrial product-sorting settings, great for pick-and-place robots.
  • AGIBot World: 1M+ trajectories from 100 robots, covering 100+ 1:1 replicated real-life scenarios across five domains, great for single-arm and mobile dual-arm robots.
  • Open X-Embodiment (Datasets and RT-X Models): One of the largest open-source datasets to date, with over 1M real robot trajectories from 22 robots (xArm, Franka, Sawyer, Kuka, etc.) demonstrating 527 skills. RT-X models show that a single generalist policy can effectively transfer learning between different robots and tasks.

Robotics Hardware

Robot Arms

  • xArm from uFactory: Reliable robot arms used in research and light industrial applications. Great cost-to-performance ratio with solid Python and ROS SDKs. Available in 5, 6, and 7 DOF. Company based in China.
  • Franka Emika: A 7-DOF arm mostly used for research. More expensive than the xArm but offers additional functionality. Strong Python and ROS SDKs. Company based in Germany.
  • Universal Robots: Industry-standard collaborative robot arms commonly used in production and industrial environments. More expensive than xArm and Franka, with multiple payloads and DOF options plus a Python SDK. Company based in Denmark.
  • Aloha Kits: A family of teleoperation arms (Aloha Solo, Aloha Stationary, Mobile Aloha) designed for data collection and model training in research settings.
  • AgileX Piper: A low-cost ($2.5K) 6-DOF robot arm with a 1.5 kg payload, suitable for education and light-duty automation.

Other Robots & Platforms

  • Unitree Go2: Quadruped robot with great kinematics and hardware. Lidar, multiple cameras, and sensors available. Starts at $1.6K. Software/SDKs are improving over time.
  • Unitree B2: Industrial-grade robot dog capable of ~40 kg payloads with larger batteries and longer-range lidar.
  • Unitree G1: Entry-level, short humanoid robot with 3D lidar, depth camera, 23 DOF, and a top speed of 2 m/s. Starts at $16K.
  • Unitree H1: Full-sized humanoid robot (180 cm) with a top speed of 3.3 m/s and a 3D lidar plus Intel RealSense D435i depth camera. Stronger motors and higher payload than the G1.
  • Xiaomi CyberDog: Quadruped robot powered by NVIDIA's Jetson Xavier NX with 11 onboard sensors, including binocular ultra-wide cameras and an Intel RealSense D450 module. Walks up to 3.2 m/s and carries ~3 kg.
  • LimX Dynamics W1: All-terrain wheeled quadruped robot.
  • LimX Dynamics CL-1: Upcoming humanoid robot; limited public data so far.
  • LimX Dynamics TRON1: Biped robot with Python SDK and MuJoCo, Isaac Sim, and Gazebo integrations. Add-ons include wheels, radar, a robot arm, camera, and gimbal.
  • DeepRobotics: Recently released quadruped robot with strong kinematics and optional wheels.
  • Igus Delta pick-and-place robot: High-speed, low-cost delta robot for picking applications.
  • Tita Biped robot: Biped robot with wheels on the legs for hybrid locomotion.

Robot Parts

Compute

  • NVIDIA Jetson Series: The Jetson lineup is excellent for onboard compute. The Orin Nano 4 GB is often too limited for serious work; 8 GB+ models offer better headroom.
  • Intel NUC (with Linux): Great general-purpose computing platforms for robotics (no discrete GPU). They draw roughly 3-5 amps depending on workload.
  • ODROID single-board computers: Powerful, compact alternatives to Raspberry Pi boards with strong performance per watt. Always add an external fan.

Motor Controllers

  • VESC Project: The open-source Vedder Electronic Speed Controller platform. Provides precise motor control, including sensorless position control via silent high-frequency injection (HFI).
  • VESCular6: Multi-functional motor controller based on the VESC project with precise position algorithms, degree-per-second speed control, and goto control. Supports VESC Tool and ROS.
  • ODrive: High-power controller (3 kW continuous, 5 kW peak) with 14-58 V range plus CAN, UART, step/dir, and GPIO interfaces. Works with Python, Arduino, CAN, and ROS 2.
  • Obot controller: Open-source controller that works over USB with Linux platforms like the Jetson Nano and Raspberry Pi. Originally designed for the Obot robot.
  • Solo Motor Controller: Supports DC, BLDC, PMSM, and ACIM motors in sensored and sensorless modes. Offers torque, speed, and position control with libraries for C++, Python, Arduino, and MATLAB.

Lidars

  • Velodyne: California-based pioneer (originated during the DARPA Grand Challenge). Merged with Ouster in 2023. I used the Velodyne VLP16 extensively before switching to the newer Ouster OS series.
  • SICK Lidars: German manufacturer known for reliability in industrial environments. The TIM551 (2D) is a common indoor robotics unit.
  • Avia Lidar: ~$1.6K lidar with a 70+ degree FOV, 450 m max range, 2 cm precision, and IP67 rating.
  • RoboSense Lidars: 3D lidar options including Airy, Helios, and Bpearl.
  • Hokuyo Lidars: Japanese manufacturer popular for indoor 2D lidars.
  • Unitree L2 3D Lidar: ~US$419 3D lidar module.
  • DJI Lidar Range Finder: Originally camera-focused, but also useful for robotics sensing.

Depth Sensors & Cameras

  • Intel RealSense: Widely used depth cameras with solid software support and multiple form factors.
  • ZED 2: StereoLabs' depth camera; a strong alternative to RealSense.
  • Orbbec: Offers stereo vision, time-of-flight, and structured-light cameras.
  • Microsoft Azure Kinect: Officially discontinued, but still a capable depth camera.
  • Luxonis OAK: Depth cameras with built-in neural processors for running small models (e.g., YOLO). Many variants available.
  • e-con Systems Cameras: Professional camera modules with multiple lens, resolution, focus, and interface options (USB, Ethernet, etc.).

Actuators

  • MyActuator motors: Affordable brushless motors with encoders and multiple communication buses (CAN, RS-485, EtherCAT). Often used instead of harmonic drives.
  • Robstride: Cost-efficient brushless motors with integrated encoders.
  • Xiaomi CyberDog motor: Compact motor with relatively high torque used in the Xiaomi CyberDog; great price point.
  • Damiao motors: Another option for budget-friendly brushless servo motors.
  • DeepRobotics J60, J80, J100: Actuators used in DeepRobotics' quadrupeds and humanoids with CAN bus control.
  • Dynamixel P and H Series: High-end servos with advanced features and price tags to match.
  • Encos: China-based supplier of compact servo actuators for mobile and legged robots.
  • SteadyWin: Industrial-grade joint actuators designed for quadrupeds and collaborative robots.
  • ElementalMotors: Modular brushless actuators for research and product development.
  • AnyDrive by Anybotics: High-performance actuators with integrated sensing for demanding robotics applications.

Controllers

These controllers are often repurposed for robotics teleoperation even though they were designed for gaming or RC use.

Long-Range Controllers

Short-Range (Bluetooth) Controllers

Electronics & Components

  • Mouser: US-based supplier for integrated circuits. Leaders (along with Digi-Key) in stocking anything from single ICs to full reels.
  • Digi-Key: Another US-based electronics distributor with deep inventory and fast shipping.
  • Pololu: Robotics and electronics store with custom boards (DC converters, motor drivers, communication modules, etc.).
  • SparkFun Electronics: US-based maker-focused store with custom boards for GPS, communications, Arduino, ESP32, audio, and more. Many designs are open source.
  • Adafruit: DIY electronics store with a wide range of custom boards for LEDs, communications, microcontrollers, and more. Most designs are open source.
  • Seeed Studio: Shenzhen-based electronics provider with unique boards and kits distinct from Pololu/Adafruit/SparkFun.
  • JLCPCB Parts: JLCPCB's component service—combine with their PCB fabrication for low-cost, fast assembly.
  • McMaster-Carr: US-based supplier with an extensive hardware catalog, including 3D CAD models for most parts.
  • Vevor: Affordable generic brand producing a wide range of tools and equipment.
  • RobotDigg: China-based robotics components store covering motors, CNC hardware, tools, and drivers.
  • SenRing: Slip rings and rotary unions for 360-degree joints.
  • Moflon: 360-degree slip rings for HDMI, Ethernet, power, pneumatics, etc.
  • Industrial mecanum wheels: Heavy-duty mecanum wheels with gearboxes.
  • Piab end-effectors: Wide selection of end-effectors for robot arms (suction, soft grippers, vacuum pumps, etc.).
  • Nextion touchscreens: Easy-to-program touchscreens with a GUI library from Nextion.
  • MaTouch ESP32-S3 Rotary IPS Display: 2.1" 480x480 IPS touch display with encoder, ESP32-S3, Wi-Fi/BLE 5.0, USB power, and LVGL/SquareLine support.
  • Seeed Studio Round Display for XIAO: 39 mm circular touch display compatible with all XIAO boards.
  • FluxGrip FG40 electro-permanent magnetic gripper: Electro-permanent magnetic gripper capable of holding ~25 kg.

Robotics Lab Tools

Manufacturing Services

  • Fabworks: On-demand laser cutting services.
  • SendCutSend: Custom sheet-metal parts with quick turnaround.
  • OshCut: Laser cutting and sheet-metal services.
  • JLCCNC: JLCPCB subsidiary offering custom CNC machining and 3D printing.

Updated on:

© Marco Mascorro. Built using Pelican. Theme by Giulio Fidente on github.