LeRobot Arm: Imitation Learning Project

#ROBOTICS #3DPRINTING #AI

Project Overview

A 3D printed robotic arm that combines advanced mechanical design with AI-powered control systems. Using imitation learning, the arm learns from human demonstrations to perform precise manipulation tasks in a robust and adaptable manner.

Development Progress

3D CAD design and simulation testing

Mechanical assembly and servo calibration

ROS2 control system implementation

Technical Details

Hardware Components

Custom 3D printed frame (PETG for structural parts)
6-DOF arm design with advanced kinematics
MG996R Servo Motors for precise control
Arduino Mega for low-level control
Raspberry Pi 4 for high-level processing
Custom-designed gripper mechanism

Software Architecture

ROS2 for system integration
PyTorch-based imitation learning pipeline
Custom inverse kinematics solver
Real-time trajectory planning module
Safety monitoring system

Code Implementation


# Imitation Learning Model
class RoboticArmNetwork(nn.Module):
    def __init__(self):
        super().__init__()
        self.encoder = nn.Sequential(
            nn.Linear(input_dim, 128),
            nn.ReLU(),
            nn.Linear(128, 64)
        )
        self.policy_head = nn.Linear(64, action_dim)
        self.value_head = nn.Linear(64, 1)

    def forward(self, state):
        features = self.encoder(state)
        action_probs = F.softmax(self.policy_head(features), dim=-1)
        value = self.value_head(features)
        return action_probs, value

Maxence Boels