Hi Daniel and Team,
We are currently working on teleoperation and pick-and-place tasks with the humanoid robot, particularly using both hands to pick up and place a box.
The right arm is working perfectly, but we are experiencing a significant issue with the left arm. When the left arm tries to extend forward, we hear noticeable vibrations and mechanical/screeching sounds coming from the left shoulder, specifically around joint J15. The arm also produces strong jerks during teleoperation, making it difficult to perform the task properly.
We have attached a video demonstrating the issue, where the noise and vibration from the J15 joint can be clearly heard. We have also attached the data/logs from our programming-mode tests, which show the joint behavior and help identify J15 as the problematic joint.
Based on our observations, we suspect that this may be a mechanical issue with the J15 joint or its motor/gear mechanism, rather than purely a software or teleoperation issue. However, we would appreciate your assessment to confirm this.
We also have an upcoming conference from 9th to 11th September, where we are planning to demonstrate the humanoid and our teleoperation/pick-and-place setup. Therefore, it would be extremely helpful if we could diagnose and resolve this issue before the conference, if possible.
Could you please take a look at the attached video and data and let us know:
- What could be causing the vibration/noise in J15?
- Whether this appears to be a mechanical or motor-related issue.
- Whether there are any additional diagnostic tests you would recommend.
- What would be the appropriate next step to repair or replace the affected component?
We would really appreciate your support, as resolving this issue before the conference would allow us to properly demonstrate our work.
Thank you very much for your help. We look forward to your feedback.
Best regards,
Kanak Pandit
University of Stuttgart / ARENA2036
