Nathan Peterman @NathanTylerP Twitter profile

Pinned Tweet

Nathan Peterman

2 months

I went on my first ever podcast to discuss the history behind Digit, some fun stories from Agility. Also we looked at some recent news from Figure, 1X, and Tesla.

Royden D'Souza

@roydendsouza

2 months

#EXCLUSIVE Don't miss this #DeepDive with @NathanTylerP and @GoingBallistic5 on 'Digit' - the @agilityrobotics bot that's taking on @Tesla_Optimus . We covered everything you'd like to know about Digit - and then some, including @neuralink and @1x_tech . Comments welcome!…

1

33

2

1

13

Last Seen Profiles

@awscloud

@_myurn_

@capybaraman86

@DavidGalanCaste

@indiainbrazil

@Dunlap_GirlsBB

@stw_pdg

@smthunwritten

@Enrique_Rojas1

@EdSurge

@UtdGabbii

@jandakembangstw

@Ryuugamine_Ryuu

@zb1scans

@hatocube

@Amepi511

@jandakembangstw

@asFrans_

@f1julinha

@pengen_stw

@rama_brownies

@Klaw_Szn

@Palvatus

@MichalScarne

@jandakembangstw

@AviationClub_Sa

@Lea_anderson99

@yikesbmth

@Coach_M_A_Small

@R9snick

@marta22romero

@SPayan_CTE

@AnitaBondsDC

@brynn_westby

@cpipr

@HZS_jihocesky

Nathan Peterman

@NathanTylerP

2 months

Never heard of Booster Robotics before. The video description says something along the lines of "we wanted to try the electric Atlas getup motion because it didn't seem so difficult".

10

61

338

Nathan Peterman

@NathanTylerP

2 months

Cool 7 DoF leg design just dropped (video in comments)

6

16

129

Nathan Peterman

@NathanTylerP

2 months

Just watched this closer. Every joint (except wrist) is using an off the shelf planetary from CubeMars. I don't know if 120 Nm peak torque is enough to lift the stated 25kg at the hip/knee joint.

Amnon Shashua

@AmnonShashua

2 months

After two years in stealth mode, we're thrilled to unveil Mentee Robotics and our humanoid robot, @MenteeBot ! With AI integration at every layer, from Sim2Real machine learning to NeRF-based algorithms and LLMs, we've achieved a complete end-to-end cycle for tasks. This is just…

43

130

674

4

11

105

Nathan Peterman

@NathanTylerP

3 months

I decided to make an interactive list of all the commercial humanoid robots. If you click any of the pictures it will tell you the name, company, and where to find more info on each one. Just shoot me a message if you find on I am missing!

List of Commercial Humanoid Robots | Notion

Requirements: 1. Must be for sale or for lease, now or in the future 2. Must have legs that function, now or in the future. Click “Table” then “Sort” then “Year” to see which humanoids are available...

nathan-peterman.com

8

28

94

Nathan Peterman

@NathanTylerP

29 days

The Unitree G1 stands #ICRA2024

2

17

93

Nathan Peterman

@NathanTylerP

2 months

I knew Apple was working on robots, but seeing them sponsor ICRA 2024 is surprising! Welcome to the robotics game Apple 🤗🥳

3

8

93

Nathan Peterman

@NathanTylerP

22 days

I got to see an older version of Kawasaki’s Kaleido humanoid. It’s got spur gears, helical gears, belts, and (covered) ball screws.

2

5

88

Nathan Peterman

@NathanTylerP

29 days

4

12

88

Nathan Peterman

@NathanTylerP

2 months

Unfortunately, I was one of the many laid off today from Agility. I am surprised at the timing in relation to our design. As I switched from support engineering to electrical engineering team last year, I was considered a newer employee

14

1

87

Nathan Peterman

@NathanTylerP

29 days

H1 and G1 #ICRA2024

1

17

86

Nathan Peterman

@NathanTylerP

15 days

Last week got to see the CNRS-AIST JRL lab thanks to @rohan565singh Featuring: HRP-5P, 2x HRP-2kai, Unitree H1, Kawasaki friends, Bruce (not pictured), and HRP-4CR (not pictured).

4

13

85

Nathan Peterman

@NathanTylerP

30 days

HRP-2 wasn’t running today, but it was nice to see a 20 year old humanoid in such good shape #ICRA2024

1

9

80

Nathan Peterman

@NathanTylerP

28 days

Got to see this cool leg design in person. There are live robotics demos behind the expo stage (easy to miss) #ICRA2024

Nathan Peterman

@NathanTylerP

2 months

Cool 7 DoF leg design just dropped (video in comments)

6

16

129

2

10

81

Nathan Peterman

@NathanTylerP

29 days

Just talked to the Unitree rep. This new model will be shown at #ICRA2024 tomorrow morning (JST). Shipping in ~4 months. Hands and low level access will cost more than the base $16k. Still uses planetary gearboxes like H1

Unitree

@UnitreeRobotics

29 days

Unitree Introducing | Unitree G1 Humanoid Agent | AI Avatar Price from $16K 🤩 Unlock unlimited sports potential(Extra large joint movement angle, 23~34 joints) Force control of dexterous hands, manipulation of all things Imitation & reinforcement learning driven #Unitree #AI

313

762

3K

4

12

77

Nathan Peterman

@NathanTylerP

3 months

It's getting harder to fit all the humanoids into one picture! All of these robots are either currently for sale or will be soon™. Let me know if forgot anyone

11

10

79

Nathan Peterman

@NathanTylerP

3 months

Digit and friends :) #GTC24

2

8

73

Nathan Peterman

@NathanTylerP

10 months

"The future is bright and full of robots"

4

18

66

Nathan Peterman

@NathanTylerP

2 months

Footage of the Giant AI robot performing a learned task at near human speeds. Posted by a former employee (Kyle O'Rourke)

4

5

63

Nathan Peterman

@NathanTylerP

2 months

I managed to find an Asimo battery charger online. It didn't sound too exciting at first, but I think it's the only piece of Asimo to ever escape Honda's labs. I very much underestimated how complex you could make a Li-ion charger! 1/2

6

2

64

Nathan Peterman

@NathanTylerP

29 days

Them’s fighting words. Anyone want to beat this speed with a digit?

4

10

63

Nathan Peterman

@NathanTylerP

29 days

It’s so smoll

1

5

55

Nathan Peterman

@NathanTylerP

2 months

Electric Atlas coming soon . . . Maybe at icra 👀👀👀

Farewell to HD Atlas

For almost a decade, Atlas has sparked our imagination, inspired the next generations of roboticists, and leapt over technical barriers in the field. Now it’...

www.youtube.com

2

18

52

Nathan Peterman

@NathanTylerP

3 months

Digit is playing king of the hill #GTC24

0

2

48

Nathan Peterman

@NathanTylerP

2 months

Everyone keeps telling me humanoids can't do useful work, but I finally have video evidence

2

4

48

Nathan Peterman

@NathanTylerP

29 days

3kg payload for each 3 finger hand. ~10kg for both arms together if not using hand. About 2 hours of battery life. Gearboxes don’t feel as nice as H1, but still really good compared to others

3

7

44

Nathan Peterman

@NathanTylerP

27 days

Robot parade time! #ICRA2024

0

7

44

Nathan Peterman

@NathanTylerP

2 months

The upside is now I have time to teach myself motor CAD A couple hours later I've got my first BLDC motor (that sadly has half the Kt it should)

2

0

43

Nathan Peterman

@NathanTylerP

27 days

#ICRA2024

3

5

40

Nathan Peterman

@NathanTylerP

15 days

@noctellie I didn’t realize the bass amp was on the stage until they all touched it as they left the stage 😭

1

5

37

Nathan Peterman

@NathanTylerP

2 months

A humanoid that weighs 43 kg with a larger battery than Cassie and can squat 145 kg. 71 DoF and the company makes their own motors, motor controllers, encoders, and harmonic drives 🤠

FDROBOT

@FDROBOT192380

6 months

Demonstration of humanoid robot milestones

0

2

12

4

8

31

Nathan Peterman

@NathanTylerP

7 months

@galopujacy_jez I am now cursed with the knowledge that the two payload bay doors don't weigh the same

1

2

31

Nathan Peterman

@NathanTylerP

2 months

This part where Atlas gets hit by the elevator door reminded me of something at Agility: one day we needed to bring a digit from the 1st to 2nd floor and we were too lazy to carry it. When the elevator first started to go up, Digit's started to crouch lower to the ground. 1/2

Nathan Peterman

@NathanTylerP

2 months

Electric Atlas coming soon . . . Maybe at icra 👀👀👀

2

18

52

2

3

31

Nathan Peterman

@NathanTylerP

2 months

Memories from cleaning out my desk #1 : My first task at Agility was making the rubber Cassie feet. I had to use a vacuum chamber made from a soup pot. The mold only made one pair at a time and it took over 8 hours to cure. 1/2

2

30

Nathan Peterman

@NathanTylerP

2 months

"self-developed high-performance motor transmission system" enables S1 to have a max speed of 10 m/s, acceleration of 100m/s^2, payload of 10 kg, and repeatability of +/- 0.03mm. That is faster and stronger than AMBIDEX (shown right) and the WAM arm.

Astribot

@Astribot_Inc

2 months

Meet Astribot S1: the Next-Gen AI Robot. - AI-powered. Unparalleled agility, dexterity and accuracy. - The future of AI Robot is here, and it's Naturally Yours. ➡ Astribot S1: Hello World! 来自 @YouTube

15

62

146

1

3

29

Nathan Peterman

@NathanTylerP

2 months

0

28

Nathan Peterman

@NathanTylerP

2 months

I've been collecting old robot magazines and looking through them occasionally. (According to Google Translate) Honda planned on putting a Hydrogen fuel cell in Asimo! Now I'm gonna have to calculate how bad of an idea that is

3

2

26

Nathan Peterman

@NathanTylerP

3 months

Very auspicious timing. Four years (and one week) ago I started at Agility as employee 21. They used their A2 funding round to hire me. When I started, we had one oscilloscope that another engineer brought in from home. Three months later we shipped our first Digits to industry

Brett Adcock

@adcock_brett

3 months

Excited to share: Figure raises $675M at $2.6B Valuation + OpenAI & Figure signed a collaboration agreement to develop next generation AI models for robots Below are the details:

255

396

4K

2

3

24

Nathan Peterman

@NathanTylerP

2 months

Does anyone know if the Cybertruck's steer by wire system (which seems to be made by ZF) actually uses Ethernet? I've only ever seen safety critical systems (fail-safe) use CAN.

8

0

23

Nathan Peterman

@NathanTylerP

1 month

A huge improvement in reinforcement learning for humanoids.

Dynamic Robotics and AI Laboratory

@osudrl

1 month

✨🤖 Robust Standing and Walking: a highly robust humanoid walking controller. We introduce benchmarks for quantitatively measuring the capabilities of walking controllers. The results are not trivial, emphasizing why objective measurements are important for our field. ⬇️

2

16

55

0

5

22

Nathan Peterman

@NathanTylerP

30 days

This was presented at the Agile Robotics workshop today at #ICRA2024 Great talk! And I promise I am not the one who asked “how do you like the Unitree humanoid and how is their support”

Xuxin Cheng

@xuxin_cheng

2 months

🤖Introducing 📺𝗢𝗽𝗲𝗻-𝗧𝗲𝗹𝗲𝗩𝗶𝘀𝗶𝗼𝗻: a web-based teleoperation software! 🌐Open source, cross-platform (VisionPro & Quest) with real-time stereo vision feedback. 🕹️Easy-to-use hand, wrist, head pose streaming. Code:

13

91

377

2

3

22

Nathan Peterman

@NathanTylerP

1 month

I’ll be attending #ICRA2024 in Yokohama this month. If you’ll be in town too, just shoot me a message if you’d like to meet up

3

0

19

Nathan Peterman

@NathanTylerP

3 months

Digit walked over 41 km during promat

Agility Robotics

@agilityrobotics

3 months

If you didn't have time to watch these Digits work for seven hours straight on the live stream, we went ahead and sped it up for you.

15

86

416

0

2

18

Nathan Peterman

@NathanTylerP

3 months

I see a lot of people arguing that “because of ADA” we can live with wheeled robots. Please, I beg you, take one look around your home and your office. 1/?

7

3

18

Nathan Peterman

@NathanTylerP

2 months

🤥

1

0

16

Nathan Peterman

@NathanTylerP

25 days

Deep inside AIST’s waterfront office is a fake 7/11 full of robots and programmers with high end gaming computers

0

4

15

Nathan Peterman

@NathanTylerP

2 months

I've been collecting old press releases for Asimo and other robots. Unfortunately this one didn't have any new footage, but it did have some new photos and higher resolution versions of some popular Asimo photos [1/?]

1

2

15

Nathan Peterman

@NathanTylerP

2 months

Ok I have done the math. If you can get away with using a gaseous hydrogen tank, Asimo would have a runtime of 11.5 hours! If you wanted to be safe and use a hydride cartridge, you would only get an hour😥

Hydrogen Fuel Cell Asimo | Notion

I've been collecting old robot magazines and looking through them occasionally. (According to Google Translate) Honda planned on putting a Hydrogen fuel cell in Asimo! Now I'm gonna have to calculate...

nathan-peterman.com

Nathan Peterman

@NathanTylerP

2 months

I've been collecting old robot magazines and looking through them occasionally. (According to Google Translate) Honda planned on putting a Hydrogen fuel cell in Asimo! Now I'm gonna have to calculate how bad of an idea that is

3

2

26

2

0

14

Nathan Peterman

@NathanTylerP

2 months

All New Atlas | Boston Dynamics

We are unveiling the next generation of humanoid robots—a fully electric Atlas robot designed for real-world applications. The new Atlas builds on decades of...

www.youtube.com

1

5

14

Nathan Peterman

@NathanTylerP

2 months

Turns out the IMU thought the elevator movement was noise and tried to filter it out 2/2

3

1

14

Nathan Peterman

@NathanTylerP

2 months

I don't think too many people actually got to see the hard work @robotbambi and agnieszka_pilat (Instagram) put into making a Digit V3 paint. It's hard to make any robot paint, let alone an arm that's only 4 DoF!

Bambi Brewer

@robotbambi

2 years

A lovely day for painting with @agnieszka_pilat ! Note the April tags at the bottom so that Digit can position itself relative to the wall. @agilityrobotics @SnapCloud

0

4

18

1

2

12

Nathan Peterman

@NathanTylerP

2 months

I've never turned off a YouTube video quicker than when I realized Mark was working with Anduril / Palmer Lucky

Christian Keil

@pronounced_kyle

2 months

2019: Anduril is "tech's most controversial startup" 2024: Anduril collabs with Mark Rober, a *kid-friendly* science YouTuber

31

28

969

2

0

11

Nathan Peterman

@NathanTylerP

2 months

😞

1

0

11

Nathan Peterman

@NathanTylerP

2 months

1

2

10

Nathan Peterman

@NathanTylerP

4 years

@EvanCollins90 @MaxKriegerVG What's with the text on the monitors in the 3rd pic. "No competition" "slow" "struggle"

1

0

10

Nathan Peterman

@NathanTylerP

2 months

🥳🥳🥳🥳

0

9

Nathan Peterman

@NathanTylerP

6 months

Merry Robot-mas 🤖🎄

Agility Robotics

@agilityrobotics

6 months

Two hours of MAXIMUM cozy vibes 🔥

2

12

101

0

2

9

Nathan Peterman

@NathanTylerP

2 months

It took me over 5 attempts to get one pair made without bubbles. Immediately, I convinced management to splash out for outsourcing by taking my salary times the hours I spent making that one pair. 2/2

0

9

Nathan Peterman

@NathanTylerP

6 years

so much for suicide prevention

0

1

9

Nathan Peterman

@NathanTylerP

2 months

Not walking yet so still lots of work to do

1

0

9

Nathan Peterman

@NathanTylerP

2 years

Cassie celebrating setting the world record for 100m @osudrl @OregonState @agilityrobotics

0

1

8

Nathan Peterman

@NathanTylerP

29 days

I thought this was an out of season April fools joke for a second

Unitree

@UnitreeRobotics

29 days

Unitree Introducing | Unitree G1 Humanoid Agent | AI Avatar Price from $16K 🤩 Unlock unlimited sports potential(Extra large joint movement angle, 23~34 joints) Force control of dexterous hands, manipulation of all things Imitation & reinforcement learning driven #Unitree #AI

313

762

3K

0

8

Nathan Peterman

@NathanTylerP

3 months

Left to Right: Figure 01, Unitree H1, Apptronik Apollo, Agility Robotics Digit, Jensen Huang, Sanctuary AI Phoenix, 1X NEO, Fourier Intelligence GR-1, Boston Dynamics Atlas, Xpeng PX5

1

0

7

Nathan Peterman

@NathanTylerP

2 months

@BillyZelsnack

0

1

7

Nathan Peterman

@NathanTylerP

3 months

Look around the grocery store the next time you shop there. Look at the little restaurant downtown. Walk through a warehouse. 3/?

1

0

6

Nathan Peterman

@NathanTylerP

3 months

While I know it is frustrating for everyone who struggled to fundraise in the past or is still currently running on a shoe-string budget, I am glad that field of humanoids is growing so quickly.

1

0

6

Nathan Peterman

@NathanTylerP

2 months

High Resolution Asimo 2001/2002 photos [4/?]

1

7

Nathan Peterman

@NathanTylerP

2 months

@servo_boyd Highest torque density possible, as always for humanoids

2

0

7

Nathan Peterman

@NathanTylerP

2 months

@idlehandsdev @digikey When I ask my coworkers if they want to add anything to my Digikey order real quick before I send it out, this is always what they send as a joke

0

7

Nathan Peterman

@NathanTylerP

2 months

For example it has over 40 signal wires going from the charger to the battery! For some reason there are more than three separate serial connections and a parallel interface? I'll need to spend more time to trace out the connections

Asimo Li-ion Charger Teardown | Notion

This is as close as I have gotten to owning an Asimo, even if it’s only the battery charger. Let’s see how it’s built and what it can tell us about the rest of the robot!

nathan-peterman.com

0

1

7

Nathan Peterman

@NathanTylerP

2 months

These differential joints everywhere are sweet

1

0

7

Nathan Peterman

@NathanTylerP

2 months

Compare the elbow of the S1 (left) to pictures from the WAM/Barrett arm manual (right)

2

0

7

Nathan Peterman

@NathanTylerP

2 months

@GoddenThomas The clip of them using unreal engine's physics to figure out part placement on the bed, made me laugh out loud at first. It is definitely a solution and was probably much easier to program

2

0

6

Nathan Peterman

@NathanTylerP

2 years

I will miss you Asimo. Glad I got to see you in action

Shuuji Kajita

@s_kajita

2 years

（間違っているかも知れないけど言っておきます）深層学習に次ぐロボット工学の革命が迫っている今のタイミングで店を畳むのはマズイ気がする。ホンダの上層部の人は数年後に後悔すると思う。人型ロボット「アシモ」、表舞台から引退へ…

10

350

657

0

1

6

Nathan Peterman

@NathanTylerP

2 months

@NetDemura These are so different?

0

6

Nathan Peterman

@NathanTylerP

3 months

There is most likely clutter all over the floor. If it’s under three floors, there is not going to be an elevator. Talk to people that use wheelchairs. Talk to people who use crutches and walking sticks. 2/?

1

0

5

Nathan Peterman

@NathanTylerP

2 months

@BillyZelsnack (I had ASIMO on my desk to annoy our cofounders) One day my EE coworker accidently knocked over an entire shelf and ASIMO split in half. We used a soldering iron and superglue to repair him

0

5

Nathan Peterman

@NathanTylerP

29 days

I think it’s interesting that the base version will have a lower knee torque of 90Nm and the edu version will have 120Nm.

0

1

6

Nathan Peterman

@NathanTylerP

2 months

(old version, easier to see the coupled actuators)

Introducing HyperLeg: Human-like Robot Leg and Foot for Highly...

Hyperleg: Highly dynamic robot leg aiming at explosive, acrobatic, delicate, and smooth motions, such as walking, sprinting, jumping, or dancing.- 8.2 kg mas...

www.youtube.com

1

0

6

Nathan Peterman

@NathanTylerP

3 months

@GoddenThomas Hardware me: these loops will keep the swing leg mass down Software me: 🥲

0

6

Nathan Peterman

@NathanTylerP

2 years

Tesla AI Day Bingo. I'm excited for every player in the humanoid game, but sometimes it's fun to joke around

0

5

Nathan Peterman

@NathanTylerP

2 months

@chubicki I would be worried about safety even more than usefulness. Having a 60-70kg metal weight tip over in your house would cause some holes in the walls and furniture. My cat walks between my legs and I am worried about stepping on him, let alone a metal robot

2

0

6

Nathan Peterman

@NathanTylerP

3 months

"Perhaps a few years from now, the halls of the Georgia World Congress Center will be peppered with humanoid robots the week of Modex. In 2024, however, Digit stands alone at the supply chain show. It’s a testament to Agility’s healthy head start" ☺️

The loneliness of the robotic humanoid | TechCrunch

Perhaps a few years from now, the halls of the Georgia World Congress Center will be peppered with humanoid robots the week of Modex. In 2024, however,

techcrunch.com

0

6

Nathan Peterman

@NathanTylerP

3 months

Already found that I forgot XBot-L by Robot Era

0

6

Nathan Peterman

@NathanTylerP

7 months

@kevin_zakka Would love to know the gear ratio of the knee

1

0

4

Nathan Peterman

@NathanTylerP

3 months

Shower thought: we've spent 25 years making a robot vacuum cleaner, however, a human with a Dyson and five minutes on the clock will do such a better job

2

0

5

Nathan Peterman

@NathanTylerP

3 months

and academic customers. Investors at the time were worried that because we had no competition, we must not be a good investment opportunity. Now four years later, several university students that learned robotics with Cassie and Digit now work for Figure.

1

0

5

Nathan Peterman

@NathanTylerP

2 months

@kscalelabs I will try to copy some stuff from and

0

5

Nathan Peterman

@NathanTylerP

3 months

Wait why does everyone say FOC requires crazy math? This is simpler than I expected

1

0

5

Nathan Peterman

@NathanTylerP

6 months

I never thought menswear guy would retweet a video of our robot lol

derek guy

@dieworkwear

6 months

when i wear a size 9 shoe but the 8.5 was on sale

15

125

3K

0

5

Nathan Peterman

@NathanTylerP

2 months

@BillyZelsnack I am currently in Tangent, Oregon. I don't think anyone in PTG was affected but not 100% sure

0

5

Nathan Peterman

@NathanTylerP

3 months

New Digit end effector 🫣

Flow Rack & Cart Replenishment — Agility Robotics

The lineside delivery process, powered by the Agility Solution, epitomizes efficiency and precision in manufacturing facilities. Agility Arc, our cloud automation platform, fully integrates Digit...

agilityrobotics.com

0

1

5

Nathan Peterman

@NathanTylerP

2 months

(New version)

StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe

Introducing StaccaToe, our latest human-scale single-legged robot inspired by the design principles of its predecessor, HyperLeg. StaccaToe showcases the eff...

www.youtube.com

1

0

5

Nathan Peterman

@NathanTylerP

21 days

It’s not the same without ASIMO (left late 2019 / right mid 2024 - at Miraikan)

0

1

4

Nathan Peterman

@NathanTylerP

6 months

lachlan

@hyprturing

6 months

having a perfectly normal time

1

0

24

0

4

Nathan Peterman

@NathanTylerP

2 years

@furan

1

4

Nathan Peterman

@NathanTylerP

3 months

@servo_boyd I guess it's nice that's Digit's head is symmetrical

1

0

4

Nathan Peterman

@NathanTylerP

6 years

That long Furby will be in my nightmares for years

0

4

Nathan Peterman

@NathanTylerP

2 months

Some more paintings by Digit

Nathan Peterman

@NathanTylerP

2 months

I don't think too many people actually got to see the hard work @robotbambi and agnieszka_pilat (Instagram) put into making a Digit V3 paint. It's hard to make any robot paint, let alone an arm that's only 4 DoF!

1

2

12

0

4

Nathan Peterman

@NathanTylerP

3 months

However, it does put a lot of pressure to deliver a working robot in quantity.

0

4