Our “bubbles” and various other compliant sensors turn hard robots into soft robots, allowing for intentional and advantageous contact-rich, sometimes sloppy but always controllable, interactions between our robot’s body and the world.Read More
Our Tactile team brings together complementary research and engineering expertise in soft robotics, manipulation, humanoid systems, physical human-robot interaction, education, entertainment, software development and consumer electronics.Contact Us: email@example.com
We are excited to release the build instructions and design files for our Punyo Bubble Gripper v2.0 so that our friends and colleagues can test our technology, improve upon it, and take us closer to building robotic assistants for the home! This new version is built around Intel's Realsense D405 Depth Camera
The Punyo project information is distributed using the Creative Commons Attribution-NonCommercial 4.0 International license.
For access to all the information you need to build your own Punyo Gripper, please view & acknowledge the license.
The following document provides instructions on how to build TRI’s tactile sensing Punyo Bubble Grippers. After reading this document, users should understand the following:
You’re going to need some stuff to get started. Take a look at your shopping list.Download PDF
Here’s the parts you’re going to want to get fabricating. Use your favorite colors and be sure to share your creation!
The following files will enable you to 3D print and laser cut all pieces you need for the complete Punyo Gripper assembly. STL files are 3D mesh files used for 3D printing. Vector files are used for laser cutting. SOLIDWORKS files are source CAD files that can be used to modify components.Download Build Files
You can find v1.0 (based on PMD's picoflexx v1) instructions and build files here.
The Soft-Bubble Sensor works with ROS2 on Linux.ROS Package
Build a Punyo Gripper: Education and Open Source for Humanoid RobotsVideo
Punyo is an artistic rendering of the Tactile team’s dream domestic robot. The word “punyo” is a Japanese word that elicits feelings of chubby, cute resilience - our Punyo concept robot is soft, interactive, affordable, safe, durable and capable. Most importantly, unlike many other robots, Punyo is not afraid to safely make a lot of contact and uses its whole body to get jobs done and interact with the world and its humans.