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

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.