Difference between revisions of "Stompy"
| Line 12: | Line 12: | ||
* [[Stompy Build Guide]] | * [[Stompy Build Guide]] | ||
* [[Gripper History]] | * [[Gripper History]] | ||
| − | |||
= Hardware = | = Hardware = | ||
Revision as of 21:45, 6 July 2024
| Stompy | |
|---|---|
| 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:
Contents
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.
Simulation
For the latest simulation artifacts, see the website.
Artwork
Here's some art of Stompy!
