This upper-torso humanoid robot is our main research platform. Two Barrett Whole Arm Manipulators (WAMs) are used for the robot's arms. Each WAM has seven degrees of freedom. In addition to that, each arm is equipped with a three-finger Barrett Hand. The hands also have seven degrees of freedom. Fingers one and three can rotate 180-degrees in addition to bending. This allows the robot to perform a variety of grasps. In other words, the robot has two opposable thumbs which compensate for it having only three fingers.
The robot was built just in time for the dedication ceremony for the new Electrical and Computer Engineering building which is the home of the Developmental Robotics Laboratory. The robot cut the ceremonial red ribbon. See the media page for more images and videos of the robot.
A series of video tutorials for the Barrett WAM is posted here.