> For the complete documentation index, see [llms.txt](https://x.ancorasir.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://x.ancorasir.com/des5002/des5002-or-autumn-2022/readme.md). # DES5002 Designing Robots for Social Good Autumn 2022 ## Course Description This course exemplifies the technical and ethical guidelines in designing robots for social good. The course introduces the principles, materials, design, and modeling of robotic agents for physical interactions with the environment, helping students understand the basic concepts and core technologies of robotics. The course further takes a theme-based and case-driven approach to help students identify the key factors in designing robots for social good and practice them in a design challenge. ## Learning Outcomes At the end of this course, students will be able to: 1. Conduct analysis of robotic systems in terms of technical and ethical aspects. 2. Adopt advanced technologies in designing robotic systems. 3. Demonstrate ability to align technical and ethical guidelines in designing robots for social good. ## Content Summary The course covers robotics and social good, mathematical foundations, regression and classification, neural networks, convolutional networks, deep-learning architectures, generative design, soft robotics and AI risk. The Reachy Fusion project combines Fusion 360 training, mechanical design analysis, assembly, generative design, 3D printing and applications for social good. Students work in teams of four to five, with individual roles supporting technical drawings, assembly instructions, engineering analysis and documentation. ## Course Instructor & Teaching Team * Lead Instructor: Dr. Wan Fang * Teaching Assistants: Xu Ronghan, Qiu Nuofan, Dong Yujian and Han Xudong * Teaching Administrator: Fu Tian * Office: Room 512, North Block, New Engineering Building ## Grading Policy * (10%) Attendance * To be recorded randomly during each class by Teaching Assistants. * (20%) Assignment * To be submitted before Oct 7th, 23:59, online. * (20%) Project: Fusion 360 Certificate 5% \* 4 * Submit your certificate by filling out a form every two weeks. * (20%) Project: Team Final Poster on the Design of a Reachy Part * Explain the design and working principle of your team’s portion of Reachy * Formulate and explain a step-by-step assembly for your team’s portion of Reachy * Explain and justify the use of Generative Design on improving a selected part from Fusion using skills learned from the four Fusion 360 courses as much as you can * (10%) Project: Team 3D Print the Generative Design of a Reachy Part * Refine the Generative design and 3D print a physical model for testing with the full-size robot through a physical assembly * (20%) Project: Team Final Poster on the Design of Reachy application for Social Good * Propose the use of Reachy Fusion for Social Good through design Intelligence for Reachy Fusion * In your final presentation, presents the work the team has done including * formulate a project team of 4\~5 students with different roles and explain your design tasks * get yourself fluent in using Fusion 360 for the project and in your final presentation * explain the design and working principle of your team’s portion of Reachy * formulate and explain a step-by-step assembly for your team’s portion of Reachy * explain and justify the use of Generative Design for Reachy Fusion * propose the use of Reachy Fusion for Social Good through design Intelligence for Reachy Fusion ## Academic Integrity This course follows the SUSTech Code of Academic Integrity. Students are expected to abide by that code. Work submitted by a student for academic credit must be the student's own work. Violations, including cheating, copying and non-approved collaborations, will not be tolerated. ## University Calendar ![](https://2125669768-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-07aade70d12aad15227b3db92a396b57e19efaab%2Funiversity-calendar-2022-autumn.webp?alt=media) ## Recommended Textbook(s) 1. Ethically Aligned Design: A Vision for Prioritizing Human Well-being with Autonomous and Intelligent Systems. 2. Designing Robots, Designing Humans. 3. [Soft Robotics Toolkit](https://softroboticstoolkit.com/). 4. Coyle, Stephen, et al. “Bio-inspired soft robotics: Material selection, actuation, and design.” Extreme Mechanics Letters 22 (2018): 51–59. ## Teaching Schedule Class times were not specified in the archived schedule. [**Class 01: Introduction to Robots**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-75cb28be992ff97a0a5129862342fff2fbdafddd%2FWeek-01-Lecture-01-Introduction-to-Robots.pdf?alt=media) **|** Tue Sep 06 * *Team formation: Sep 11, 2330. Fusion 360 registration and assignment release.* [**Class 02: What is Social Good?**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-70e2f516bd9abd4ba26dfb2fbf25fe7f484c7342%2FWeek-01-Lecture-02-What-is-Social-Good.pdf?alt=media) **|** Fri Sep 09 [**Class 03: The Rise of Robotics and AI**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-13353f771bb05c6e0853aefecc9ecfdb0130d283%2FWeek-02-Lecture-03-The-Rise-of-Robotics-and-AI.pdf?alt=media) **|** Tue Sep 13 [**Class 04: Robots & AI for Social Good**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-99045bb4de629573bec55b09cb3e40892cb8714a%2FWeek-03-Lecture-04-Robots-for-Social-Good.pdf?alt=media) **|** Tue Sep 20 [**Class 05: Workshop: Fusion 360 Basics**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-738d59be6c64bd29c452c80aab9e93cf50b370be%2FWeek-03-Project-02-Fusion-360-Introduction-QiuNF.pdf?alt=media) **|** Fri Sep 23 * *Fusion 360 Basics certificate: Sep 25, 2330. Workshop led by Qiu Nuofan.* [**Class 06: Workshop: Fusion 360 Simulation**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-ec7c1a21d1cc31ec134ffd99751d58c14f4ad378%2FWeek-04-Project-03-Fusion-360-Simulation-QiuNF.pdf?alt=media) **|** Tue Sep 27 * *Fusion 360 Simulation certificate: Oct 02, 2330. Workshop led by Qiu Nuofan.* [**Class 07: Mathematical Foundations**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-753a1be741bdcabf4ef196bc6e7133037787582f%2FWeek-05-Lecture-05-Mathematical-Foundations.pdf?alt=media) **|** Tue Oct 11 [**Class 08: Linear Regression and Classification**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-81bf21df15a0521af9027979d08f3a1407fd6d40%2FWeek-05-Lecture-06-Linear-Regression-and-Classification-in-Machine-Learning.pdf?alt=media) **|** Fri Oct 14 * *Fusion 360 Generative Design I certificate: Oct 23, 2330.* [**Class 09: From Logistic Regression to Neural Networks**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-64dd7195e89f14611ca2719d85391e4af14b47c0%2FWeek-06-Lecture-07-From-Logistic-Regression-to-Neural-Networks.pdf?alt=media) **|** Tue Oct 18 [**Class 10: Generative Design Method**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-3d8608d8ee407f9979d6901480b402abf48b6acf%2FWeek-07-Lecture-08-Generative-Design.pdf?alt=media) **|** Tue Oct 25 **Class 11: Workshop: Fusion 360 Generative Design |** Fri Oct 28 * *Workshop led by Qiu Nuofan. Fusion 360 Generative Design II certificate: Nov 06, 2330.* [**Class 12: Convolutional Networks (CNN)**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-5c480fe2f6831f94fb8e0a2dd7b7287e5fa564b2%2FWeek-08-Lecture-09-Convolutional-Networks.pdf?alt=media) **|** Tue Nov 01 [**Class 13: Modern Architectures of DL**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-e26e1f554337b7dd800441dcba1e2f6cdd75a36c%2FWeek-09-Lecture-10-Modern-Architectures.pdf?alt=media) **|** Tue Nov 08 ~~**Class 14: Cancelled: Sports Meeting |** Fri Nov 11~~ **Class 15: Workshop: Middle Term Presentation |** Tue Nov 15 [**Class 16: Soft Robotics I**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-0d506379be8205403a8c3bf3a18cecc99961e13a%2FWeek-11-Lecture-11-Soft-Robotics-I.pdf?alt=media) **|** Tue Nov 22 [**Class 17: Soft Robotics II**](https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2Fip54fdilO0oBx6zkrwyR%2Fuploads%2Fgit-blob-ab50b678bfae7350f4a15249385d76bb7b7608b4%2FWeek-11-Lecture-12-Soft-Robotics-II.pdf?alt=media) **|** Fri Nov 25 **Class 18: Workshop: Modeling and 3D Printing for Reachy Part |** Tue Nov 29 **Class 19: Workshop: Assembly Reachy Part |** Tue Dec 06 **Class 20: Workshop: AI meets Design for Reachy |** Fri Dec 09 **Class 21: Workshop: Assembly Reachy Full |** Tue Dec 13 **Class 22: Workshop: AI meets Design for Reachy |** Tue Dec 20 **Class 23: AI Risk Management |** Fri Dec 23 * *Poster submission: Dec 26, 2330.* **Class 24: Final Review |** Tue Dec 27 ## Important Deadlines * Team formation — Sep 11, 2330. * Fusion 360 Basics certificate — Sep 25, 2330. * Fusion 360 Simulation certificate — Oct 02, 2330. * Assignment submission — Oct 07, 2330 in the schedule; Oct 07, 2359 in the project brief. The archived source is inconsistent. * Fusion 360 Generative Design I certificate — Oct 23, 2330. * Fusion 360 Generative Design II certificate — Nov 06, 2330. * Team Reachy design poster — Dec 26, 2330. The workshop heading says “Sunday Midnight,” while its explicit instruction specifies Monday Dec 26, 2330. * Final review — Dec 27. ## Project Reachy Fusion for DES5002 In this project, we aim to adopt [Reachy by Pollen Robotics](https://www.pollen-robotics.com/) as the subject to practice basic concepts in mechanical design using Autodesk Fusion 360. The overall goal is to conduct a design analysis of Reachy to evaluate its engineering characteristics against its performance, use Fusion 360 as the tool for design analysis, formulate a user manual with details instructions and conclude with design recommendations for future iterations. \[All images and videos below are reproduced from Reachy main website for educational purposes only. We hope to talk with Reachy about properly using this media content. Please contact for more.]
Seven teams of design engineers are to be formulated, covering each part of Reachy, including
Cover image

Head (4 designers)

  • This is a relatively simple design compared to the rest of Reachy, with only two servo motors moving the antenna. It also has two vision sensors with two lenses of the same specs but different shapes from the outlook.
onshape_head_module.webp

Neck/Orbita Joint (4 designers)

  • This is a relatively complex design compared to the rest of Reachy, where a patented parallel mechanism is driven by three brushless motors designed in a compact form factor. It looks a bit strange but functions in a “magical” way, powered by kinematics.
onshape_orbita.webp

Trunk (4 designers)

  • This is the largest part of Reachy with no moving parts, but all movable parts will be connected. It houses most electronics and needs sufficient engineering rigidity, where structural analysis would be required.
onshape_trunk_module.webp

Left Arm (5 designers)

  • This is the most dexterous part of Reachy with the most degree of freedom, providing planning for physical interaction with the external environment. It houses most of the servo motors of Reachy with a large range of motion that needs to be carefully characterized and designed.
onshape_arm_module.webp

Left Gripper (4 designers)

  • This is the part where the dream (or simulation) comes true to affect the actual interaction with the physical environment. The challenge is to involve the least number of servo motors for maximum dexterity while dealing with the objects of various designs.
onshape_gripper_module.webp

Right Arm (5 designers)

  • In this project, your team will use an Arm prototype developed by Sun Haoran (SUSTech Mechanical Class 2016, currently a SUSTech-HKU Joint Ph.D. student at SUSTech Design and Learning Lab). We will provide a working prototype, and your task will involve providing further design optimization so that it may fit Reachy in a better way. Talk to the course instructor for further details.
Screen-Shot-2022-08-30-at-11.35.11-1024x786.webp

Right Gripper (5 designers)

  • In this project, your team will use a Gripper prototype developed by Sun Haoran (SUSTech Mechanical Class 2016, currently a SUSTech-HKU Joint Ph.D. student at SUSTech Design and Learning Lab). We will provide a working prototype, and your task will involve providing further design optimization so that it may fit Reachy in a better way. Talk to the course instructor for further details.
Screen-Shot-2022-08-30-at-11.35.47-1024x786.webp
Cover image
reachy-arm-kit.webp
reachy-expressive-kit.webp
reachy-advanced-kit.webp
### Roles of Design Engineers Each team will focus on your allocated part of Reachy, with different roles of design engineers covering the following areas. When formulating your team, be sure to identify your role from the beginning. * Design engineer 1 for producing technical drawings for each component * You should be generally proficient with CAD software and be open to training yourself fluently using Fusion 360. You are highly encouraged to review the recommended training videos to familiarize yourself with Fusion 360 and its usage. You should generally have an open mind or experience in manufacturing, fabrication, or prototyping. It would be great if you have already, or plan to have, experience dealing with various vendors or suppliers. Your attention to detail is most valued as a design engineer in general and regarding your contribution to the project. * Design engineer 2 for arranging the step-by-step assembly instruction * You should be generally proficient with CAD software and be open to training yourself fluently using Fusion 360. You are highly encouraged to review the recommended training videos to familiarize yourself with Fusion 360 and its usage. You should feel good about visualizing designs or decomposing machines within your mind and put your skills into practice. Your logical thinking is most valued as a design engineer in general and regarding your contribution to the project. * Design engineer 3 for analyzing the mechanical components for engineering specs * You should be comfortable working with modeling and numbers. Besides the recommended training videos, you are encouraged to familiarize yourself with engineering specs of things, structures, components, and designs. You should be a highly organized engineer that can put things into numbers and calculations to justify the reasoning behind a design and be generally familiar with things other than mechanical, such as electronics, materials, mechanics, control, programming, etc. Your calculations and logic play a critical role in explaining the engineering details of the design. * Design engineer 4 for preparing the overall instruction manual * You should be comfortable with communication, expression, and writing. Besides the recommended training videos, you are encouraged to organize communication within your team and translate design analysis into structured logic that better explains the engineering details behind a particular design. You should be the one constantly asking the questions and organize your team’s answer into a logical expression that answers the “why” behind a design. Your overview of the big picture plays a critical role in explaining the engineering details of the design. Notes on roles and teams * **The above description only serves as a guide to help you better position your role within the team. NOT REQUIRED.** * **The role description does not restrict your involvement in the team project, and there may be more than one student per role.** * [**Express your interest in Team Formation here.**](https://ancorasir.com/?page_id=3262) ### About Reachy by Pollen Robotics Reachy is an expressive open-source humanoid platform programmable with Python and ROS. He is particularly good at interacting with people and manipulating objects. Starting this year, we adopt Reachy in our teaching and learning for students at SUSTech Design and Learning Lab, with pilot projects through ME303 Mechanical Design, DES5002 Designing Robots for Social Good, and hopefully more. The shared idea is to implement Reachy as the subject of learning the various mechanical and robot design features. Both courses will share a similar structure to rebuild the Reachy with a touch of Fusion 360, as the original project was implemented using OnShape. * For [DES5002](https://des5002.ancorasir.com/), as a selective course for graduate students, the aim is to practice the use of modern CAD systems (Fusion 360 in our case) to get yourself familiar with some of the key concepts behind the design of various standard and non-standard parts as well as the whole assembly process, using the Generative Design tool to recreate new designs by defining the engineering constraints, 3D print and assemble a new design of Reachy assembled for potential applications in Social Good. ### About Fusion 360 by Autodesk [Fusion 360 is a cloud-based 3D modeling, CAD, CAM, CAE, and PCB software platform for professional product design and manufacturing.](https://www.autodesk.com/products/fusion-360/overview?term=1-YEAR\&tab=subscription) With SUSTech School of Design, we have partnered with Autodesk to establish an Autodesk Training Center at SUSTech. A training lab with top-end Mac computers is provided by the School of Design so that our students can use and practice the use of Fusion 360 for the course. Meanwhile, through Autodesk Training Center, we offer technical and financial support for students who are willing to take the certification to become licensed practitioners of Fusion 360 in their future careers. ### Workshop Notes #### Week 01\~08: Please refer to the table above for further instructions. #### Week 09: Individual Design Review for Reachy Fusion * Each team will be provided with a Fusion 360 folder to work with your Reachy Design. By the end of the semester, we will assemble everything into a whole design, with an overall structure as below. * Reachy Fusion * Trunk (fixed) * Neck * Head * Left Arm * Left Gripper * Right Arm * Right Gripper * For your team’s part of Reachy, * Design Engineer 1: Have you identified the files and templates for producing the engineering drawings? How many parts? Bolts and nuts? * Design Engineer 2: Have you reviewed the assembly process step-by-step? Did you propose a sub-assembly for your design? Joint Types? * Design Engineer 3: Have you identified the engineering specs? Have you made a list of the spec, organized logically with technical data? * Design Engineer 4: Have you found all the necessary information to explain the design? Have you reviewed the templated for the manual report? #### Week 10: Team Design Review for Reachy Fusion * Based on the project introduction since the semester started and the instructions since Week 09, discuss and share with your team what you have found. * Have each team member clarified your project’s role, task, and deliverables? * What remains a problem? * Have you talked with your team to resolve it? Have you talked with the Teaching Assistants? Do you need help from the Course Instructor? * Have your team reviewed the official documentation from the Reachy website and identified the positive and negative sides of the documentation? * Do you see a challenge you or your team may not resolve by submitting the final report? * What do you see would be the challenge to influence negatively to your final manual report’s quality? * Have your team worked out an action plan to move on to the next week, with deliverables and timelines identified for each team member? #### Week 11\~14: Poster Preparation and 3D Printing Service * Tips on poster preparation * [Harvard](https://it.hms.harvard.edu/our-services/research-computing/services/research-imaging-solutions/ris-seminar-handouts) * [MIT](https://mitcommlab.mit.edu/nse/commkit/poster/) * [NYU](https://guides.nyu.edu/posters) #### Week 15: Reachy Fusion Poster by Sunday Midnight * Project Assignment: Submit your team’s Reachy Design Poster by Monday, Dec 26 @ 23:30. #### Week 16: Final Presentation * Final presentation by each team and project review by the Course Instructor and Guest Professionals. --- # Agent Instructions This documentation is published with GitBook. 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