MetaBall: A Soft End-of-Robot Module
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Description
MetaBall is a soft end-of-robot module capable of vision-based deformable perception. It is designed to provide a wide range of motion and sensing capabilities, making it suitable for various applications in robotics, including manipulation, exploration, and human-robot interaction. MetaBall is a member of the Proprioceptive Soft Robotic Modules (ProSoRo) family.
Hardware
The MetaBall hardware mainly consists of a camera, a controller board, a power board, an LED light board, a soft struture and several 3D-printed parts. The camera is used for capturing images, while the controller board publishes the images through TCP protocol. The power board supports 6-36V input and powers the controller board. The LED light board provides illumination for the camera. The soft struture is made of polyurethane (PU), which is the main part to interact with the environment. 3D-printed parts are used to assemble the camera, controller board, and power board together.
CAD files of the MetaBall are available on Fusion. Please refer to the assembly guide for more details on how to assemble the MetaBall.
Software
After you have an assembled MetaBall, it's available to make it functional using the following repositories:
- Github: https://github.com/han-xudong/metaball
- Hugging Face: https://huggingface.co/han-xudong/ballnet
License
You shall not share, sub-license, sell, rent, host, transfer, or distribute in any way the digital or 3D printed versions of this object, nor any other derivative work of this object in its digital or physical format (including, but not limited to, publishing derivative works outside the Makerworld platform or hosting on other digital platforms). The objects may not be used without permission in any way whatsoever in which you charge money or collect fees. Subject to the above restrictions, derivative works may be published only within the Makerworld platform, and all such derivative works must be licensed under the same SDFL‑C license, without modification or additional terms. You may download the digital versions of this object, 3D print it, and display images, videos, or usage demonstrations of 3D printed versions of the object on personal social media platforms or Makerworld official channels, provided that no digital versions of the object are shared or distributed.
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