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Ava Robot playing a game of touch using kinematics and depth camera.

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The robot (Ava v2) looks around her for objects that are within reach. When she detects one with her depth cam that she can find a kinematic solution for, she reaches out and touches the object, using 4 linear actuators to move her core and 6 DOF in each arm. In this video she touches 3 of her smaller robot siblings, some plants, coffee cup, etc.

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