Humanoid Robots Wiki - User contributions [en]

Gripper History

2024-06-03T21:49:35Z

Dymaxion:

== Gripper Design Iterations ==

=== Updated Version 1 ===
Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.
[[File:Gripper version 1.jpg|none|300px|Updated version 1]]

=== Updated Version 2 ===
Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.
[[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]]

=== Updated Version 3 ===
Decreased hole size to allow for better threading.
Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).
[[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]]

=== Updated Version 4 ===
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.
Problems: Too flimsy in general, and particularly at tips.
[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.
Problems: Poor print quality due to lack of supports.
[[File:Updated version 5.jpg|none|300px|Updated version 5]]

=== Updated Version 6 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]

=== Updated Version 7 ===
Switched cuts to the inside wall and eliminated redundant rib.
[[File:Stomy gripper 7.jpg|none|300px|Updated version 7]]

=== Updated Version 8 ===
Tapered inside wall and extended it to the now restored rib.
[[File:Stompy gripper 8.jpg|none|300px|Updated version 8]]

Gripper History

2024-06-03T21:48:48Z

Dymaxion:

== Gripper Design Iterations ==

=== Updated Version 7 ===
Switched cuts to the inside wall and eliminated redundant rib.
[[File:Stompy gripper version 7.jpg|none|300px|Updated version 7]]

=== Updated Version 1 ===
Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.
[[File:Gripper version 1.jpg|none|300px|Updated version 1]]

=== Updated Version 2 ===
Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.
[[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]]

=== Updated Version 3 ===
Decreased hole size to allow for better threading.
Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).
[[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]]

=== Updated Version 4 ===
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.
Problems: Too flimsy in general, and particularly at tips.
[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.
Problems: Poor print quality due to lack of supports.
[[File:Updated version 5.jpg|none|300px|Updated version 5]]

=== Updated Version 6 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]

=== Updated Version 7 ===
Switched cuts to the inside wall and eliminated redundant rib.
[[File:Stomy gripper 7.jpg|none|300px|Updated version 7]]

=== Updated Version 8 ===
Tapered inside wall and extended it to the now restored rib.
[[File:Stompy gripper 8.jpg|thumb|Updated version 8]]

File:Stompy gripper 8.jpg

2024-06-03T21:47:58Z

Dymaxion:

Two stompy grippers screwed to another part.

Gripper History

2024-06-02T08:29:29Z

Dymaxion: /* Updated Version 7 */

Gripper History

2024-06-02T08:29:10Z

Dymaxion: /* Updated Version 7 */

Gripper History

2024-06-02T08:28:27Z

Dymaxion: /* Updated Version 7 */

== Gripper Design Iterations ==

=== Updated Version 7 ===
Switched cuts to the inside wall and eliminated redundant rib.
[[File:Stompy gripper version 7.jpg|none|300px|Updated version 7]]

=== Updated Version 1 ===
Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.
[[File:Gripper version 1.jpg|none|300px|Updated version 1]]

=== Updated Version 2 ===
Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.
[[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]]

=== Updated Version 3 ===
Decreased hole size to allow for better threading.
Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).
[[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]]

=== Updated Version 4 ===
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.
Problems: Too flimsy in general, and particularly at tips.
[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.
Problems: Poor print quality due to lack of supports.
[[File:Updated version 5.jpg|none|300px|Updated version 5]]

=== Updated Version 6 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]

=== Updated Version 7 ===
Switched cuts to the inside wall and eliminated redundant rib.
[[File:Stompy gripper version 7.jpg|none|300px|Updated version 7]]

Gripper History

2024-06-02T08:21:08Z

Dymaxion: /* Updated Version 7 */

File:Stompy gripper 7 1.jpg

2024-06-02T08:18:21Z

Dymaxion: A photo of one stompy gripper with a large void and triangles on the back side of the gripping face.

== Summary ==
A photo of one stompy gripper with a large void and triangles on the back side of the gripping face.

Gripper History

2024-06-02T08:17:03Z

Dymaxion: /* Updated Version 7 */

File:Stomy gripper 7.jpg

2024-06-02T08:16:38Z

Dymaxion:

A photo of one stompy gripper with a large lower void.

Gripper History

2024-06-02T08:15:19Z

Dymaxion: /* Original Design */

Gripper History

2024-06-02T06:52:21Z

Dymaxion: /* Updated Version 6 */

== Gripper Design Iterations ==

=== Original Design ===
Problems: Too flexible at fingertips, too stiff in inner surface.
[[File:Gripper 0.jpg|none|300px|The non-optimized gripper based on the UMI study]]

=== Updated Version 1 ===
Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.
[[File:Gripper version 1.jpg|none|300px|Updated version 1]]

=== Updated Version 2 ===
Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.
[[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]]

=== Updated Version 3 ===
Decreased hole size to allow for better threading.
Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).
[[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]]

=== Updated Version 4 ===
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.
Problems: Too flimsy in general, and particularly at tips.
[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.
Problems: Poor print quality due to lack of supports.
[[File:Updated version 5.jpg|none|300px|Updated version 5]]

=== Updated Version 6 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]

=== Updated Version 7 ===
Switched cuts to the inside wall and eliminated redundant rib.

Gripper History

2024-06-02T06:48:42Z

Dymaxion: /* Updated Version 7 */

== Gripper Design Iterations ==

=== Original Design ===
Problems: Too flexible at fingertips, too stiff in inner surface.
[[File:Gripper 0.jpg|none|300px|The non-optimized gripper based on the UMI study]]

=== Updated Version 1 ===
Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.
[[File:Gripper version 1.jpg|none|300px|Updated version 1]]

=== Updated Version 2 ===
Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.
[[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]]

=== Updated Version 3 ===
Decreased hole size to allow for better threading.
Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).
[[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]]

=== Updated Version 4 ===
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.
Problems: Too flimsy in general, and particularly at tips.
[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.
Problems: Poor print quality due to lack of supports.
[[File:Updated version 5.jpg|none|300px|Updated version 5]]

=== Updated Version 6 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]

=== Updated Version 7 ===Switched cuts to the inside wall and eliminated redundant rib.

File:Stompy gripper version 6.jpg

2024-06-01T05:04:55Z

Dymaxion:

Gripper History

2024-06-01T05:03:39Z

Dymaxion:

== Gripper Design Iterations ==

=== Original Design ===
Problems: Too flexible at fingertips, too stiff in inner surface.
[[File:Gripper 0.jpg|none|300px|The non-optimized gripper based on the UMI study]]

=== Updated Version 1 ===
Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.
[[File:Gripper version 1.jpg|none|300px|Updated version 1]]

=== Updated Version 2 ===
Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.
[[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]]

=== Updated Version 3 ===
Decreased hole size to allow for better threading.
Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).
[[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]]

=== Updated Version 4 ===
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.
Problems: Too flimsy in general, and particularly at tips.
[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.
Problems: Poor print quality due to lack of supports.
[[File:Updated version 5.jpg|none|300px|Updated version 5]]

=== Updated Version 6 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]

=== Updated Version 7 ===
Decreased profile of rib material to make screw installation process easier.

Gripper History

2024-06-01T04:42:37Z

Dymaxion: /* Gripper Design Iterations */

==Gripper Design Iterations==
Original Design:
[[File:Gripper 0.jpg|thumb|The non-optimized gripper based on the UMI study]]
Problems: Too flexible at fingertips, too stiff in inner surface
Updated version 1:
[[File:Gripper version 1.jpg|thumb|Updated version 1]]
Made ribs thinner at their ends so that they would bend more easily
Added triangular cuts along the inner surface to allow the material to flex
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear

Updated version 2:
[[File:Stompy gripper 2.jpg|thumb|Updated Version 2]]
Moved slots to only align with the three thickest ribs, reducing potential for tears
Created an angled profile where the tips of the grippers are narrower than the base
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases

Updated version 3:
[[File:Stompy gripper version 3.jpg|thumb|Updated version 3]]
Decreased hole size to allow for better threading
Problems: tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail)

Updated version 4:
[[File:Gripper version 4.jpg|thumb|Updated version 4]]
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more
Problems: too flimsy in general, and particularly at tips

Updated version 5:
[[File:Updated version 5.jpg|thumb|Updated version 5]]
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports
Problems: poor print quality due to lack of supports
Updated version 6:

Used solid tip and fewer ribs in the other section.

Problems: Tip will not bend around objects
Assembly with screws remained awkward
Updated version 7:

Decreased profile of rib material to make screw installation process easier

File:Updated version 5.jpg

2024-06-01T04:35:37Z

Dymaxion:

File:Gripper version 4.jpg

2024-06-01T04:35:01Z

Dymaxion:

File:Stompy gripper version 3.jpg

2024-06-01T04:34:23Z

Dymaxion:

File:Stompy gripper 2.jpg

2024-06-01T04:32:24Z

Dymaxion:

File:Gripper 0.jpg

2024-06-01T04:30:14Z

Dymaxion:

File:Gripper version 1.jpg

2024-06-01T04:28:22Z

Dymaxion:

Gripper History

2024-06-01T04:26:16Z

Dymaxion: Created page with "==Gripper Design Iterations== Original Design: The non-optimized gripper based on the UMI study Problems: Too flexible at fingertips, too stiff in..."

==Gripper Design Iterations==
Original Design:
[[File:Gripper 0.jpg|thumb|The non-optimized gripper based on the UMI study]]
Problems: Too flexible at fingertips, too stiff in inner surface
Updated version 1:
[[File:Gripper version 1.jpg|thumb|Updated version 1]]
Made ribs thinner at their ends so that they would bend more easily
Added triangular cuts along the inner surface to allow the material to flex
Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear

Updated version 2:
[[File:Stompy gripper 2.jpg|thumb|Updated Version 2]]
Moved slots to only align with the three thickest ribs, reducing potential for tears
Created an angled profile where the tips of the grippers are narrower than the base
Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases

Updated version 3:
[[File:Stompy gripper version 3.jpg|thumb|Updated version 3]]
Decreased hole size to allow for better threading
Problems: tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail)

Updated version 4:
[[File:Gripper version 4.jpg|thumb|Updated version 4]]
Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more
Problems: too flimsy in general, and particularly at tips

Updated version 5:
[[File:Updated version 5.jpg|thumb|Updated version 5]]
Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports
Problems: poor print quality due to lack of supports
Updated version 6:

Used solid tip and fewer ribs in the other section.
Assembly with screws remained awkward
Updated version 7:

Decreased profile of rib material to make screw installation process easier

Stompy

2024-06-01T04:25:54Z

Dymaxion:

[[File:Stompy.jpg|right|300px|thumb]]

{{infobox robot
| name = Stompy
| organization = [[K-Scale Labs]]
| cost = USD 10,000
}}

Stompy is an open-source humanoid robot developed by [[K-Scale Labs]]. Here are some relevant links:

* [[Stompy To-Do List]]
* [[Stompy Build Guide]]
* [[Gripper History]]

= Hardware =

This page is dedicated to detailing the hardware selections for humanoid robots, including various components such as actuators, cameras, compute units, PCBs and modules, batteries, displays, microphones, speakers, as well as wiring and connectors.

== Actuators ==
Actuators are the components that allow the robot to move and interact with its environment. They convert energy into mechanical motion. Common types used in humanoid robots include:
* Servo motors
* Stepper motors
* Linear actuators

== Cameras ==
Cameras are essential for visual processing, allowing the robot to perceive its surroundings. Important considerations include:
* Resolution and frame rate
* Field of view
* Depth sensing capabilities (3D cameras)

== Compute ==
The compute section handles the processing requirements of the robot. This includes:
* Microprocessors and microcontrollers
* Single-board computers like Raspberry Pi or Nvidia Jetson
* Dedicated AI accelerators for machine learning tasks

== PCB and Modules ==
Printed Circuit Boards (PCBs) and the modules on them are the backbone of the robot's electronic system.
* Main control board
* Power management modules
* Sensor interfaces
* Communication modules (Wi-Fi, Bluetooth)

== Batteries ==
Batteries provide the necessary power to all robotic systems and are crucial for mobile autonomy. Selection factors include:
* Battery type (Li-Ion, NiMH, Lead-Acid)
* Capacity (measured in mAh or Ah)
* Voltage and energy density
* Safety features and durability

== Displays ==
Displays are used in robots for displaying information such as system status, data, and interactive elements. Key features include:
* Size variations ranging from small to large panels
* Touchscreen capabilities
* High resolution displays

== Microphones ==
Microphones enable the robot to receive and process audio inputs, crucial for voice commands and auditory data. Factors to consider are:
* Sensitivity and noise cancellation
* Directionality (omnidirectional vs. unidirectional)
* Integration with voice recognition software

== Speakers ==
Speakers allow the robot to communicate audibly with its environment, essential for interaction and alerts. Considerations include:
* Power output and sound quality
* Size and mounting options
* Compatibility with audio processing hardware

== Wiring and Connectors ==

Proper wiring and connectors ensure reliable communication and power supply throughout the robot's components.

* Types of wires (gauge, shielding)
* Connectors (pin types, waterproofing)
* Cable management solutions

=== Conventions ===

The images below show our pin convention for the CAN bus when using various connectors.

<gallery>
Kscale db9 can bus convention.jpg
Kscale phoenix can bus convention.jpg
</gallery>

= Simulation =

For the latest simulation artifacts, see [https://kscale.dev/ the website].

= Artwork =

Here's some art of Stompy!

<gallery>
Stompy 1.png
Stompy 2.png
Stompy 3.png
Stompy 4.png
</gallery>

[[Category:Robots]]
[[Category:Open Source]]
[[Category:K-Scale]]

Controller Area Network (CAN)

2024-05-27T18:13:54Z

Dymaxion: /* MCP2515 Driver */

The '''Controller Area Network''' (CAN) represents an essential vehicle bus standard. It was explicitly engineered to facilitate communication between microcontrollers and devices without resorting to a central computer. The primary purpose of CAN is to enhance vehicle interconnectivity and foster swift data exchange between various systems within the vehicle.

== MCP2515 ==

The '''MCP2515''' is an integrated circuit produced by Microchip Technology, constructed to function as a stand-alone CAN controller. It exhibits compatibility with an SPI (Serial Peripheral Interface) which makes it versatile in various applications. Although its primary use is in automotive industries, it is also used in a variety of other control applications.<ref>MCP2515 Stand-Alone CAN Controller with SPI Interface. Microchip Technology. [https://www.microchip.com/wwwproducts/en/en010406 Official datasheet].</ref>

The MCP2515 bridges the connection between the CAN protocol and the SPI protocol by receiving CAN messages and translating them into SPI data, allowing the microcontroller to interpret the information. Similarly, it transforms SPI data into CAN messages for transmission.<ref>MCP2515 Stand-Alone CAN Controller with SPI Interface. Microchip Technology. [https://www.microchip.com/wwwproducts/en/en010406 Official datasheet].</ref>

The MCP2515's operational details include its capacity to support CAN 2.0A and B, drawing attention to its alignment with established CAN standards and equipping it for both basic and extended frame format usage.<ref>MCP2515 Stand-Alone CAN Controller with SPI Interface. Microchip Technology. [https://www.microchip.com/wwwproducts/en/en010406 Official datasheet].</ref>

== Applications ==

The [https://python-can.readthedocs.io/en/stable/ python-can] library provides Controller Area Network support for Python, providing common abstractions to different hardware devices, and a suite of utilities for sending and receiving messages on a CAN bus.

There is an example of an installation on [[Jetson_Orin]] here.

=== Pi4 ===

Raspberry Pi offers an easy to deploy 2-Channel Isolated CAN Bus Expansion HAT which allows to quickly integrate it to the peripheral devices. See the [https://www.waveshare.com/wiki/2-CH_CAN_HAT tutorial] for more information

=== Arduino ===

Arduino has a good support of the MCPs with many implementations of the [https://github.com/Seeed-Studio/Seeed_Arduino_CAN drivers]

=== MCP2515 Driver ===

By default the CAN bus node is supposed to acknowledge every message on the bus whether or not that node is interested in the message. However, the interference on the network can drop some bits during the communication. In the standard mode, the node would not only continuously try to re-send the unacknowledged messages, but also after a short period it would start sending error frames and then eventually go to bus-off mode and stop. This causes sever issues when the CAN network works with multiple motors.

The controller has a [http://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf one-shot] setup that requires changes in the driver.

=== Wiring ===

Here is some suggested equipment for wiring a CAN bus:

* Molex Mini-Fit Junior connectors
** [https://www.digikey.ca/en/products/detail/molex/0638190901/9655931 Crimper]
** [https://www.digikey.ca/en/products/detail/molex/0766500013/2115996 Connector kit]
** [https://www.aliexpress.us/item/3256805730106963.html Extraction tool]
* CAN bus cable
** [https://www.digikey.ca/en/products/detail/igus/CF211-02-01-02/18724291 Cable]
** [https://www.digikey.com/en/products/detail/igus/CF891-07-02/21280679 Alternative Cable]
* Heat shrink
** [https://www.amazon.com/Eventronic-Heat-Shrink-Tubing-Kit-3/dp/B0BVVMCY86 Tubing]

== References ==
<references />

[[Category:Communication]]

Main Page

2024-05-06T04:10:32Z

Dymaxion: /* List of Humanoid Robots */

Welcome to the Humanoid Robots wiki!

This is a free resource to learn about humanoid robots.

As you're looking around, if something feels incomplete or out-of-date, please update it so that we can continue providing high-quality information to the community.

=== Getting Started ===

[[Getting Started with Humanoid Robots]]

==== Resources ====

{| class="wikitable"
|-
! Name
! Comments
|-
| [[Underactuated Robotics]]
| High-quality open-source course from MIT
|-
| [https://www.epfl.ch/labs/lasa/mit-press-book-learning/#chapter1 Learning for Adaptive and Reactive Robot Control]
|
|-
| [[Learning algorithms]]
| Resources related with training humanoid models in simulation and real environments
|-
| [[Reinforcement Learning]]
| Resources related to understanding reinforcement learning
|-
| [[Servo Design]]
| A reference for servos that you can use
|-
| [[:Category:Guides]]
| Category for pages which act as guides
|-
| [[:Category:Electronics]]
| Category for pages about electronics topics
|-
| [[:Category:Hardware]]
| Category for pages relating to hardware
|-
| [[:Category:Software]]
| Category for pages relating to software
|-
|-
| [[:Category:Teleop]]
| Category for pages relating to teleoperation
|-
|-
| [[:Category:Non-humanoid Robots]]
| Category for pages relating to non-humanoid robots
|-
| [[Contributing]]
| How to contribute to the wiki
|}

=== Communication Protocols ===

{| class="wikitable"
|-
! Name
|-
| [[Controller Area Network (CAN)]]
|-
| [[Inter-Integrated Circuit (I2C)]]
|-
| [[Serial Peripheral Interface (SPI)]]
|-
| [[EtherCAT]]
|}

=== List of Actuators ===

{| class="wikitable"
|-
! Actuator
! Notes
|-
| [[MyActuator X-Series]]
| MIT Cheetah-like quasi-direct drive actuator, with planetary gears
|-
| [[OBot]]
| Open-source actuator
|-
| [[SPIN Servo]]
| Open-source actuator
|-
| [[VESCular6]]
| A project based on [[VESC]]
|-
| [[ODrive]]
|
|-
| [[Solo Motor Controller]]
| A motor controller alternative to the [[ODrive]].
|-
| [[J60]]
| Actuators built for the [[DEEP Robotics]] quadrupeds.
|}

=== List of Humanoid Robots ===

{| class="wikitable"
|-
! Company
! Robots
|-
| [[Mirsee Robotics]]
| [[Beomni]], [[Mirsee]]
|-
| [[Tesla]]
| [[Optimus]]
|-
| [[Hyperspawn Robotics]]
| [[Shadow-1]]
|-
| [[Agility]]
| [[Cassie]], [[Digit]]
|-
| [[Sanctuary]]
| [[Phoenix]]
|-
| [[POINTBLANK]]
| [[DROPBEAR]]
|-
| [[1X]]
| [[Eve]], [[Neo]]
|-
| [[Fourier Intelligence]]
| [[GR-1]]
|-
| [[Unitree]]
| [[H1]]
|-
| [[UBTech]]
| [[Walker X]], [[Panda Robot]], [[Walker S]]
|-
| [[Deep Robotics]]
| [[Wukong-IV]]
|-
| [[Robotera]]
| [[XBot]], [[Starbot]]
|-
| [[DATAA Robotics]]
| [[XR4]]
|-
| [[System Technology Works]]
| [[ZEUS2Q]]
|-
| [[Boston Dynamics]]
| [[HD Atlas]], [[Atlas]]
|-
| [[Apptronik]]
| [[Valkyrie]], [[Draco]], [[QDH]], [[Apollo]]
|-
| [[K-Scale Labs]]
| [[Stompy]]
|-
| [[Rainbow Robotics]]
| [[HUBO]]
|-
| [[Kepler]]
| [[K1]]
|-
| [[Kawasaki Robotics]]
| [[Kaleido]], [[Friends]]
|-
| [[PAL Robotics]]
| [[Kangaroo]], [[REEM-C]], [[TALOS]]
|-
| [[LEJUROBOT]]
| [[Kuavo]]
|-
| [[DREAME]]
| [[MagicBot]]
|-
| [[MenteeBot]]
| [[MenteeBot (Robot)]]
|-
| [[Kind Humanoid]]
| [[Mona]]
|-
| [[Boardwalk Robotics]]
| [[Nadia]]
|-
| [[Xpeng]]
| [[PX5]]
|-
| [[Westwood Robotics]]
| [[THEMIS]]
|-
| [[NASA]]
| [[Valkyrie]]
|-
| [[FDROBOT]]
| [[T1]]
|-
| [[Figure]]
| [[Figure 01]]
|-
| [[Physical Intelligence]]
|
|-
| [[Skild]]
|
|-
| [[Booster Robotics]]
| [[BR002]]
|-
| [[Agibot]]
| [[RAISE-A1]]
|-
| [[LimX Dynamics]]
| [[CL-1]]
|-
| [[Xiaomi]]
| [[CyberOne]]
|-
| [[Anthrobotics]]
| [[Anthro]]
|-
| [[Toyota Research Institute]]
| [[Punyo]], [[T-HR3]]
|-
| [[SuperDroid Robots]]
| [[Rocky]]
|-
| [[Proxy]]
|
|-
| [[AstriBot Corporation]]
| [[Astribot S1]]
|-
| [[Beijing Humanoid Robot Innovation Center]]
| [[Tiangong]]
|-
| [[Kayra.org]]
| [[Kayra]]
|-
| [[SUPCON]]
| [[Navigator α]]
|-
| [[NASA]]
| [[Robonaut2]]
|}

Robonaut2

2024-05-06T04:09:57Z

Dymaxion: Created page with "Robonaut2 was the first humanoid robot to be launched into space. It was developed by the NASA Johnson Space Center and launched in 2011, tested about the International Space..."

Robonaut2 was the first humanoid robot to be launched into space. It was developed by the NASA Johnson Space Center and launched in 2011, tested about the International Space Station, and returned to Earth for study in 2018. Robonaut2 was built to test applications of humanoid robots to augment crewed space missions.

{{infobox robot
| name = Robonaut2
| organization = [[NASA]]
| video_link = https://www.youtube.com/watch?v=mtl48NOtyg0
| cost = $2,500,000
| height = 3' 4"
| weight = 330 lbs
| speed = 7 feet per second
| lift_force = 40 lbs
| number_made = 1
| status = Decommissioned
}}

[[Category:Robots]]

Main Page

2024-05-06T03:51:49Z

Dymaxion: /* List of Humanoid Robots */

User:Dymaxion

2024-05-06T03:44:29Z

Dymaxion:

Kenji Sakaie is an incoming K-Scale intern and mechanical engineering student.

{{infobox person
| name = Kenji Sakaie
| organization = K-Scale Labs
| title = Technical Intern
}}

[[Category: K-Scale Employees]]

User:Dymaxion

2024-05-06T03:41:18Z

Dymaxion:

Kenji Sakaie is an incoming K-Scale intern and mechanical engineering student.

{{infobox user
}}

Template:Infobox user

2024-05-06T03:39:25Z

Dymaxion: Created page with "{{infobox company | name = Name | country = Country | website_link = https://link.com/ | robots = Stompy }}"

{{infobox company
| name = Name
| country = Country
| website_link = https://link.com/
| robots = [[Stompy]]
}}

User:Dymaxion

2024-05-06T03:39:00Z

Dymaxion: Created page with "Kenji Sakaie is an incoming K-Scale intern and mechanical engineering student. {{infobox user | Name = Kenji Sakaie | Organization = K-Scale Labs and Franklin W. Olin College..."

Kenji Sakaie is an incoming K-Scale intern and mechanical engineering student.

{{infobox user
| Name = Kenji Sakaie
| Organization = K-Scale Labs and Franklin W. Olin College of Engineering
| Title = Intern
}}