MIT HERMES Project

The MIT HERMES humanoid robot system is designed for studying whole-body human-in-the-loop control with balance feedback. Inspired by the innate physical control capabilities of humans as well as the capacity for creative learning, we explore the use of the full-body of the human operator as the controller for a humanoid robot.

MIT HERMES System got 2nd place at the 2015 MIT Mechanical Engineering de Florez Award Competition, Graduate Design category.

And our team also placed 2nd at 2016 UAE Robotics for Good Award, in February 2016 in Dubai. An international robotics competition that included over 600 teams from all around the globe.

This work includes the concept, design, and experimental implementation of a full-body teleoperation system for human-in-the-loop control of a humanoid robot. The purpose of this Human-Machine Interface (HMI) is to create a new media to aid the task of bilateral feedback during full-body teleoperation of humanoid robots. It explores human’s primitive motor skills to enhance the dynamic behavior of the slave platform to a performance level comparable to humans. This project aims to leverage legged robot’s performance to respond to disaster situations such as nuclear, fire, or chemical hazards. We expect to reliably deploy a legged platform to a dangerous environments and perform powerful manipulation tasks such as hammering/axing, moving/lifting heavy objects, etc. We believe this is the key technology that allows for the paradigm shift from quasi-static regime to truly dynamic performance of humanoid robots.

For the past two years, we have been working on the first version of the HERMES System, including the Human Machine Interface (Balance Feedback Interface and Motion Capture Suit) and the humanoid robot itself. All the hardware and software is developed and tested in the lab so the team can easily modify and improve the machine in the hardware and software level. 

 

HERMES at MIT News:

 

HERMES Team entry at 2016 UAE Robotics for Good Award:

 

For some other pictures and videos check out this link.

Publications:

[1] J. Ramos, and S. Kim, "Improving Humanoid Posture Teleoperation by Dynamic Synchronization Through Operator Motion Anticipation" in Robotics and Automation (ICRA), 2017 IEEE International Conference on. IEEE, 2017.

[2] J. Ramos, A. Wang, and S. Kim, "Robot-Human Balance State Transfer during Full-Body Humanoid Teleoperation Using Divergent Component of Motion Dynamics" in Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016.

[3] J. Ramos, A. Wang, J. Mayo, W. Ubellacker, and S. Kim, “A Balance Feedback Interface for Whole-Body Teleoperation of a Humanoid Robot and Implementation in the Hermes System”, in Humanoid Robots, 2015 15th IEEE-RAS International Conference on. IEEE, 2015.

[4] A. Wang, J. Ramos, J. Mayo, W. Ubellacker, and S. Kim, “The HERMES Humanoid System: A Platform for Full-body Teleoperation with Balance Feedback”, in Humanoid Robots, 2015 15th IEEE-RAS International Conference on. IEEE, 2015 

[5] J. Ramos, A. Wang, and S. Kim, “A Balance Feedback Human Machine Interface for Humanoid Teleoperation in Dynamic Tasks”, in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on., IEEE, 2015.

 

The MIT HERMES Project was featured in many news and articles such as: MIT News, NBC News, Popular Science, IEEE Spectrum, Wired, Boston Herald, Boston Globe, Reuters, FOX News, O Globo, Business Insider, and many others. Here are some selected media.

The MIT HERMES Team. Left to right: Wyatt Ubellacker, João Ramos, John Mayo, Albert Wang and Prof. Sangbae Kim.