GOLEM: 電気自動車バッテリー分解に向けたモジュール型ヒューマノイド自律システム
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
GOLEMは、Unitree H1-2ヒューマノイドロボットを用いてEVバッテリーパックの分解を自動化する、オープンソースのモジュール型システムアーキテクチャを提案する。歩行、操作、動的安定性、ナビゲーション、空間記憶を独立モジュールとして抽象化し、シミュレーションから実機まで一貫した開発・比較を可能にした。
著者: Max Conway, William Xie, Allen Devaraj, Yutong Zhang, Niraj Pudasaini, Mateo Feit, Adam Abid, Zachary Allen, Chen Liu, Xuan Tan, Jensen Lavering, Jason Chen, Lyle Antieau, Anthony Von Pischke, Alessandro Roncone, Zachary Sunberg, Nikolaus Correll
分類: cs.RO
原文アブストラクト
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodied Modules), an end-to-end, open-source system architecture for EV battery disassembly with the Unitree H1-2 humanoid robot in which walking, manipulation, dynamic stability, navigation, and spatial memory are independent modules with abstract interfaces, so that methods are easily developed, interchanged, and compared. GOLEM is deployed as a Docker-based ROS 2 abstraction in which MuJoCo and IsaacLab digital twins expose interfaces matching the physical robot. GOLEM's composability and per-module customization enable development and demonstration of humanoid EV battery disassembly, from simulation to reality. GOLEM provides fair comparison between humanoid modules, enabling evaluation as a capability ladder, in which one module is characterized at a time and added as a rung: LiDAR-inertial navigation places the robot within 13.0cm of a 6m goal; a learned standing controller recovers from external disturbances that sampling-based lower-body MPC does not; and grasping loosened fasteners from a real Hyundai Ioniq 5 pack degrades from 97% tethered to 87% free-standing to 37% under navigation-induced pose variance. Source code is available at the project page https://golem-humanoid.github.io