Herb is an autonomous robot with a mobile base and two arms. It's learning to perform tasks in human environments, including the kitchen, where it loves to separate the cookie and cream of his Oreos.
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Did You Know?
Herb stands for Home Exploring Robot Butler, but the name is also a homage to Herbert A. Simon, the AI pioneer and renowned CMU professor.
Herb loves to master manipulation tasks in the kitchen and has grown quite fond of Fuze tropical punch, Pop-Tarts, and microwavable dinners.
Herb can dance the Macarena.
- Able to recognize objects and plan safe, smooth motions for collaborative manipulation.
- 140 cm | 55 in
- 62 cm | 24.5 in
- 65.5 cm | 25.7 in
- 127 kg | 280 lb
- 5.4 km/h | 3.3 mph
- SLR camera, high-resolution gigabit-Ethernet monocular camera, RGBD camera, custom spinning 3D laser, infrared navigation system, microphone, tactile pads, force-torque sensors, strain gauges, planar base lasers.
- Two 7-DOF Barrett WAM arms, Segway RMP 200 base, custom 2D-OF pan-tilt head.
- Two 56-V 20-Ah lithium-ion batteries for arms, computing, and sensing; additional lithium-ion batteries in Segway base.
- Three on-board Dell Precision M6500 mobile workstations with 12 GB RAM and 256 GB solid-state drives.
- Linux OS and custom control software with ROS (Robot Operating System) integration.
- DEGREES OF FREEDOM (DOF)
- 27 (Head: 2 DoF; Arm: 7 DoF x 2; Hand: 4 DoF x 2; Base: 3 DoF)
- Custom machined aluminum chassis
Herb was created by a team led by Siddhartha Srinivasa, now a professor at Carnegie Mellon, in 2006. Initial funding came from Intel and the Quality of Life Technology Center, a National Science Foundation engineering research center focused on creating intelligent systems that work symbiotically with people in everyday tasks. The first version, called the Busboy, consisted of a wandering Segway RMP 200 mobile base and a single Barrett WAM arm mounted on a pedestal. In 2008, the group built the next version, Herb 1.0, making improvements to the manipulator. In 2010, the researchers redesigned the entire robot from scratch, creating Herb 2.0, with two arms and a head, custom electronics, cooling, and power to last up to six hours untethered.