用机器人自动拆解电动车电池，模块化设计让开发更简单。
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
- 模块化架构分离行走、抓取、导航等功能，便于替换和测试。
- 实测在6米目标内定位误差小于13厘米，抓螺丝成功率从97%降至37%。
- 适合机器人研发者与自动化回收企业参考，支持从仿真到现实部署。
报废电动汽车电池组的拆解工作单调且危险，目前几乎全靠人工完成。本文提出GOLEM（通用具身模块开放库），一个面向Unitree H1-2人形机器人的端到端开源系统架构，用于电动汽车电池拆解。该系统将行走、操作、动态稳定、导航与空间记忆等能力划分为独立模块，通过抽象接口实现松耦合，支持方法的快速开发、替换与对比。系统基于Docker化的ROS 2实现，结合MuJoCo与IsaacLab数字孪生环境，接口与物理机器人保持一致。模块可组合性与可定制性支持从仿真到真实场景的全流程开发与演示。通过能力阶梯评估方式，逐项验证各模块性能：激光雷达-惯性导航在6米目标内定位误差为13.0cm；学习型站立控制器可应对采样式下肢模型预测控制无法处理的扰动；在真实现代伊兰特Ioniq 5电池包上，抓取松动螺钉的成功率从97%（系绳状态）下降至87%（自由站立），进一步受导航引起的姿态波动影响，降至37%。源代码见项目主页 https://golem-humanoid.github.io
原文摘要 · Abstract (English)
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodied Modules), an end-to-end, open-source system architecture for EV battery disassembly with the Unitree H1-2 humanoid robot in which walking, manipulation, dynamic stability, navigation, and spatial memory are independent modules with abstract interfaces, so that methods are easily developed, interchanged, and compared. GOLEM is deployed as a Docker-based ROS 2 abstraction in which MuJoCo and IsaacLab digital twins expose interfaces matching the physical robot. GOLEM's composability and per-module customization enable development and demonstration of humanoid EV battery disassembly, from simulation to reality. GOLEM provides fair comparison between humanoid modules, enabling evaluation as a capability ladder, in which one module is characterized at a time and added as a rung: LiDAR-inertial navigation places the robot within 13.0cm of a 6m goal; a learned standing controller recovers from external disturbances that sampling-based lower-body MPC does not; and grasping loosened fasteners from a real Hyundai Ioniq 5 pack degrades from 97% tethered to 87% free-standing to 37% under navigation-induced pose variance. Source code is available at the project page https://golem-humanoid.github.io
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