LeG

Turned two SO-101 arms into a pair of legs (LeRobot Hackathon SF, winner)

With Thomason Zhou, Theo Lemay, Alyzen Jeraj and Yonji Lim, we turned two SO-101 robot arms into a pair of legs. This included designing a custom “pelvis” part to connect the legs, a platform to teleoperate them, as well as a Mujoco simulation for RL.

Silly demo video we made.
Final prototype with our trophy.
Custom "pelvis" part.
Mujoco sim for LeG.
Teleop platform - two leader legs are hanging off the table (circled).