Stompy

Hardware

This page is dedicated to detailing the hardware selections for K-Scale labs humanoid robot, 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

The K-Scale Labs robot uses Quasi-direct drive pancake motors based off the MIT Cheetah open-source actuators. These actuators and developed, manufactured, and sold by MyActuator.

The K-Scale Labs robot consists of:

• 10x MyActuator RMD-X4-H
• 6x MyActuator RMD-X6
• 9x MyActuator RMD-X8
• 4x MyActuator RMX-X-10

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