Cody

A torso with arms and a camera head is raised on a mobile platform.
Cody can raise its upper body like a forklift. Photo: Tiffany Chen

Cody is a robotic nurse created to assist individuals with disabilities. It's designed to support research into human-robot interaction with an emphasis on tasks relevant to healthcare.

Creator

Georgia Tech

Year
2009
Country
United States 🇺🇸
Categories
Features
Cody opens doors and drawers. Video: Georgia Tech/Healthcare Robotics Lab

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Appearance

Neutral

Did you know?

Cody's omnidirectional base allows the robot to move in any direction without having to turn first.

A robot in front. ofa hospital bed.
Cody is designed to operate in hospital settings. Photo: Rob Felt/Georgia Tech
Close up of the robots appendages.
Cody uses padded end-effectors to bathe patients. Photo: Rob Felt/Georgia Tech

Specs

Overview

Equipped with compliant arms and an omnidirectional mobile base. Able to lift its torso using a linear actuator.

Status

Inactive

Year

2009

Website
Width
75 cm
Height
155 cm
Length
65 cm
Weight
136 kg
Speed
1.26 km/h
Sensors

Point Grey Dragonfly camera, Microsoft Kinect, pressure-sensing tactile array (in the forearm), ATI force-torque sensors (wrist).

Actuators

Meka A1 arms with series elastic actuators, Festo linear actuator, Segway RMP 50 Omni mobile base.

Degrees of Freedom (DoF)
18 (Arms: 7 DoF x 2; Mobile base: 3 DoF; Linear actuator: 1 DoF)
Materials

Aluminum 80/20 framing system.

Compute

Two Mac Minis and one Dell Studio Hybrid (real-time PC for the arms).

Software

Ubuntu Linux OS and control software written in Python (with a variety of open source packages, including ROS, SciPy, KDL, and OpenCV).

Power

Standard 120-V power supply or three lithium-polymer batteries.