Open Arms: Open-Source Arms, Hands & Control

Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open Arms framework includes an open SDK and development environment, simulation tools, and application development tools to build and operate Open Arms. This paper describes these hands controls, sensing, mechanisms, aesthetic design, and manufacturing and their real-world applications with a teleoperated nursing robot. From 2015 to 2022, we have designed and established the manufacturing of Open Arms as a low-cost, high functionality robotic arms hardware and software framework to serve both humanoid robot applications and the urgent demand for low-cost prosthetics. Using the techniques of consumer product manufacturing, we set out to define modular, low-cost techniques for approximating the dexterity and sensitivity of human hands. To demonstrate the dexterity and control of our hands, we present a novel Generative Grasping Residual CNN (GGR-CNN) model that can generate robust antipodal grasps from input images of various objects at real-time speeds (22ms). We achieved state-of-the-art accuracy of 92.4% using our model architecture on a standard Cornell Grasping Dataset, which contains a diverse set of household objects.

SophiaPop: Experiments in Human-AI Collaboration on Popular Music

A diverse team of engineers, artists, and algorithms, collaborated to create songs for SophiaPop, via various neural networks, robotics technologies, and artistic tools, and animated the results on Sophia the Robot, a robotic celebrity and animated character. Sophia is a platform for arts, research, and other uses. To advance the art and technology of Sophia, we combine various AI with a fictional narrative of her burgeoning career as a popstar. Her actual AI-generated pop lyrics, music, and paintings, and animated conversations wherein she interacts with humans real-time in narratives that discuss her experiences. To compose the music, SophiaPop team built corpora from human and AI-generated Sophia character personality content, along with pop music song forms, to train and provide seeds for a number of AI algorithms including expert models, and custom-trained transformer neural networks, which then generated original pop-song lyrics and melodies. Our musicians including Frankie Storm, Adam Pickrell, and Tiger Darrow, then performed interpretations of the AI-generated musical content, including singing and instrumentation. The human-performed singing data then was processed by a neural-network-based Sophia voice, which was custom-trained from human performances by Cereproc. This AI then generated the unique Sophia voice singing of the songs. Then we animated Sophia to sing the songs in music videos, using a variety of animation generators and human-generated animations. Being algorithms and humans, working together, SophiaPop represents a human-AI collaboration, aspiring toward human AI symbiosis. We believe that such a creative convergence of multiple disciplines with humans and AI working together, can make AI relevant to human culture in new and exciting ways, and lead to a hopeful vision for the future of human-AI relations.