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As you're looking around, if something feels incomplete or out-of-date, please update it so that we can continue providing high-quality information to the community.
 
As you're looking around, if something feels incomplete or out-of-date, please update it so that we can continue providing high-quality information to the community.
 +
 +
Feel free to join our [https://discord.gg/kscale Discord community] for more real-time discussion!
  
 
=== Getting Started ===
 
=== Getting Started ===
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[[Getting Started with Humanoid Robots]]
 
[[Getting Started with Humanoid Robots]]
  
−
==== Resources ====
+
{| class="wikitable mw-collapsible mw-collapsed"
−
 
+
|+ Resources
−
{| class="wikitable"
 
 
|-
 
|-
 
! Name
 
! Name
Line 18: Line 19:
 
| [[Underactuated Robotics]]
 
| [[Underactuated Robotics]]
 
| High-quality open-source course from MIT
 
| High-quality open-source course from MIT
 +
|-
 +
| [https://www.youtube.com/watch?v=LiNgr1tz49I&list=PLZnJoM76RM6ItAfZIxJYNKdaR_BobleLY Advanced Robot Dynamics]
 +
| High-quality open-source course from CMU
 +
|-
 +
| [https://www.youtube.com/watch?v=6rUdAOCNXAU&list=PLZnJoM76RM6KugDT9sw5zhAmqKnGeoLRa Optimal Control]
 +
| High-quality open-source course from CMU
 
|-
 
|-
 
| [https://www.epfl.ch/labs/lasa/mit-press-book-learning/#chapter1 Learning for Adaptive and Reactive Robot Control]
 
| [https://www.epfl.ch/labs/lasa/mit-press-book-learning/#chapter1 Learning for Adaptive and Reactive Robot Control]
Line 24: Line 31:
 
| [[Learning algorithms]]
 
| [[Learning algorithms]]
 
| Resources related with training humanoid models in simulation and real environments
 
| Resources related with training humanoid models in simulation and real environments
−
|-
 
−
| [[Reinforcement Learning]]
 
−
| Resources related to understanding reinforcement learning
 
 
|-
 
|-
 
| [[Servo Design]]
 
| [[Servo Design]]
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| [[:Category:Hardware]]
 
| [[:Category:Hardware]]
 
| Category for pages relating to hardware
 
| Category for pages relating to hardware
 +
|-
 +
| [[:Category:Firmware]]
 +
| Category for pages relating to firmware
 
|-
 
|-
 
| [[:Category:Software]]
 
| [[:Category:Software]]
 
| Category for pages relating to software
 
| Category for pages relating to software
−
|-
 
 
|-
 
|-
 
| [[:Category:Teleop]]
 
| [[:Category:Teleop]]
 
| Category for pages relating to teleoperation
 
| Category for pages relating to teleoperation
 
|-
 
|-
 +
| [[:Category:Papers]]
 +
| Category for humanoid robotics papers
 
|-
 
|-
 
| [[:Category:Non-humanoid Robots]]
 
| [[:Category:Non-humanoid Robots]]
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|}
 
|}
  
−
=== Communication Protocols ===
+
=== Components ===
  
−
{| class="wikitable"
+
{| class="wikitable mw-collapsible mw-collapsed"
 +
|+ Actuators
 +
|-
 +
| [[SPIN Servo]]
 +
|-
 +
| [[DEEP Robotics J60]]
 +
|-
 +
| [[Robstride]]
 +
|-
 +
| [[MyActuator]]
 +
|-
 +
| [[Encos]]
 +
|-
 +
| [[Steadywin]]
 +
|-
 +
| [[Elemental Motors]]
 +
|-
 +
| [[Anydrive]]
 +
|-
 +
| [[HEBI]]
 +
|-
 +
| [[ZeroErr]]
 
|-
 
|-
−
! Name
+
| [[CubeMars]]
 
|-
 
|-
−
| [[Controller Area Network (CAN)]]
+
| [[MjBots]]
 
|-
 
|-
−
| [[Inter-Integrated Circuit (I2C)]]
+
| [[Dynamixel]]
 
|-
 
|-
−
| [[Serial Peripheral Interface (SPI)]]
+
| [[LinEngineering]]
 
|-
 
|-
−
| [[EtherCAT]]
+
| [[Faradyi]]
 
|}
 
|}
  
−
=== List of Actuators ===
+
{| class="wikitable mw-collapsible mw-collapsed"
 +
|+ Inference Boards
 +
|-
 +
| [[Jetson]]
 +
|-
 +
| [[SiMi AI]]
 +
|}
  
−
{| class="wikitable"
+
{| class="wikitable mw-collapsible mw-collapsed"
 +
|+ Motor Controllers
 
|-
 
|-
−
! Actuator
+
| [[VESCular6]]
−
! Notes
 
 
|-
 
|-
−
| [[MyActuator X-Series]]
+
| [[ODrive]]
−
| MIT Cheetah-like quasi-direct drive actuator, with planetary gears
 
 
|-
 
|-
 
| [[OBot]]
 
| [[OBot]]
−
| Open-source actuator
 
 
|-
 
|-
−
| [[SPIN Servo]]
+
| [[Solo Motor Controller]]
−
| Open-source actuator
+
|-
 +
| [[moteus-n1]]
 
|-
 
|-
−
| [[VESCular6]]
+
| [[K-Scale Motor Controller]]
−
| A project based on [[VESC]]
+
|}
 +
 
 +
{| class="wikitable mw-collapsible mw-collapsed"
 +
|+ Communication Protocols
 
|-
 
|-
−
| [[ODrive]]
+
| [[Controller Area Network (CAN)]]
−
|
 
 
|-
 
|-
−
| [[Solo Motor Controller]]
+
| [[Inter-Integrated Circuit (I2C)]]
−
| A motor controller alternative to the [[ODrive]].
 
 
|-
 
|-
−
| [[J60]]
+
| [[Serial Peripheral Interface (SPI)]]
−
| Actuators built for the [[DEEP Robotics]] quadrupeds.
 
 
|-
 
|-
−
| [[K-Scale Motor Controller]]
+
| [[EtherCAT]]
−
| An open-source motor controller
 
 
|}
 
|}
  
−
=== List of Humanoid Robots ===
+
=== Robots ===
  
 
{| class="wikitable"
 
{| class="wikitable"
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! Robots
 
! Robots
 
|-
 
|-
−
| [[Mirsee Robotics]]
+
| [[1X]]
−
| [[Beomni]], [[Mirsee]]
+
| [[Eve]], [[Neo]]
 
|-
 
|-
−
| [[Tesla]]
+
| [[AGIBot]]
−
| [[Optimus]]
+
| [[RAISE-A1]]
−
|-
 
−
| [[Hyperspawn Robotics]]
 
−
| [[Shadow-1]]
 
 
|-
 
|-
 
| [[Agility]]
 
| [[Agility]]
 
| [[Cassie]], [[Digit]]
 
| [[Cassie]], [[Digit]]
 
|-
 
|-
−
| [[Sanctuary]]
+
| [[Anthrobotics]]
−
| [[Phoenix]]
+
| [[Anthro]]
 +
|-
 +
| [[Apptronik]]
 +
| [[Valkyrie]], [[Draco]], [[QDH]], [[Apollo]]
 +
|-
 +
| [[AstriBot Corporation]]
 +
| [[Astribot S1]]
 +
|-
 +
| [[Beijing Humanoid Robot Innovation Center]]
 +
| [[Tiangong]]
 
|-
 
|-
−
| [[POINTBLANK]]
+
| [[Boardwalk Robotics]]
−
| [[DROPBEAR]]
+
| [[Nadia]], [[Alex]]
 
|-
 
|-
−
| [[1X]]
+
| [[Booster Robotics]]
−
| [[Eve]], [[Neo]]
+
| [[BR002]]
 
|-
 
|-
−
| [[Fourier Intelligence]]
+
| [[Boston Dynamics]]
−
| [[GR-1]]
+
| [[HD Atlas]], [[Atlas]]
 
|-
 
|-
−
| [[Unitree]]
+
| [[Bot Company]]
−
| [[H1]]
+
|
 
|-
 
|-
−
| [[UBTech]]
+
| [[DATAA Robotics]]
−
| [[Walker X]], [[Panda Robot]], [[Walker S]]
+
| [[XR4]]
 
|-
 
|-
 
| [[Deep Robotics]]
 
| [[Deep Robotics]]
 
| [[Wukong-IV]]
 
| [[Wukong-IV]]
 
|-
 
|-
−
| [[Robotera]]
+
| [[MagicLab,_DREAME]]
−
| [[XBot]], [[Starbot]]
+
| [[MagicBot]]
 +
|-
 +
| [[Engineered Arts]]
 +
| [[Ameca]]
 +
|-
 +
| [[FDROBOT]]
 +
| [[T1]]
 +
|-
 +
| [[Figure AI]]
 +
| [[Figure 01]], [[Figure 02]]
 +
|-
 +
| [[Fourier Intelligence]]
 +
| [[GR-1]]
 +
|-
 +
| [[GALBOT]]
 +
| [[GALBOT]]
 +
|-
 +
| [[Haier]]
 +
| [[Kuavo (Kuafu)]]
 
|-
 
|-
−
| [[DATAA Robotics]]
+
| [[Honda Robotics]]
−
| [[XR4]]
+
| [[ASIMO]]
 
|-
 
|-
−
| [[System Technology Works]]
+
| [[Humanoid]]
−
| [[ZEUS2Q]]
+
|
 
|-
 
|-
−
| [[Boston Dynamics]]
+
| [[Hyperspawn Robotics]]
−
| [[HD Atlas]], [[Atlas]]
+
| [[Shadow-1]]
 
|-
 
|-
−
| [[Apptronik]]
+
| [[Instituto Italiano]]
−
| [[Valkyrie]], [[Draco]], [[QDH]], [[Apollo]]
+
| [[iCub]]
 
|-
 
|-
−
| [[K-Scale Labs]]
+
| [[Kawasaki Robotics]]
−
| [[Stompy]]
+
| [[Kaleido]], [[Friends]]
 
|-
 
|-
−
| [[Rainbow Robotics]]
+
| [[Kayra.org]]
−
| [[HUBO]]
+
| [[Kayra]]
 
|-
 
|-
 
| [[Kepler]]
 
| [[Kepler]]
 
| [[K1]]
 
| [[K1]]
 
|-
 
|-
−
| [[Kawasaki Robotics]]
+
| [[K-Scale Labs]]
−
| [[Kaleido]], [[Friends]]
+
| [[Stompy]]
 +
|-
 +
| [[Kind Humanoid]]
 +
| [[Mona]]
 
|-
 
|-
−
| [[PAL Robotics]]
+
| [[LASER Robotics]]
−
| [[Kangaroo]], [[REEM-C]], [[TALOS]]
+
| [[HECTOR V2]]
 
|-
 
|-
 
| [[LEJUROBOT]]
 
| [[LEJUROBOT]]
 
| [[Kuavo]]
 
| [[Kuavo]]
 
|-
 
|-
−
| [[DREAME]]
+
| [[LimX Dynamics]]
−
| [[MagicBot]]
+
| [[CL-1]]
 
|-
 
|-
 
| [[MenteeBot]]
 
| [[MenteeBot]]
 
| [[MenteeBot (Robot)]]
 
| [[MenteeBot (Robot)]]
 
|-
 
|-
−
| [[Kind Humanoid]]
+
| [[Mirsee Robotics]]
−
| [[Mona]]
+
| [[Beomni]], [[Mirsee]]
 
|-
 
|-
−
| [[Boardwalk Robotics]]
+
| [[NASA]]
−
| [[Nadia]]
+
| [[Valkyrie]], [[Robonaut2]]
 
|-
 
|-
−
| [[Xpeng]]
+
| [[NEURA Robotics]]
−
| [[PX5]]
+
| [[4NE-1]]
 
|-
 
|-
−
| [[Westwood Robotics]]
+
| [[Noetix]]
−
| [[THEMIS]]
+
| [[Dora]]
 
|-
 
|-
−
| [[NASA]]
+
| [[PAL Robotics]]
−
| [[Valkyrie]], [[Robonaut2]]
+
| [[Kangaroo]], [[REEM-C]], [[TALOS]]
 
|-
 
|-
−
| [[FDROBOT]]
+
| [[PaXini]]
−
| [[T1]]
+
| [[Tora]]
 
|-
 
|-
−
| [[Figure]]
+
| [[POINTBLANK]]
−
| [[Figure 01]]
+
| [[DROPBEAR]]
 
|-
 
|-
−
| [[Physical Intelligence]]
+
| [[Pollen Robotics]]
−
|
+
| [[Reachy]]
 
|-
 
|-
−
| [[Skild]]
+
| [[Proxy]]
 
|
 
|
 
|-
 
|-
−
| [[Booster Robotics]]
+
| [[Rainbow Robotics]]
−
| [[BR002]]
+
| [[HUBO]]
 
|-
 
|-
−
| [[Agibot]]
+
| [[Robotera]]
−
| [[RAISE-A1]]
+
| [[XBot]], [[Starbot]]
 
|-
 
|-
−
| [[LimX Dynamics]]
+
| [[Sanctuary]]
−
| [[CL-1]]
+
| [[Phoenix]]
−
|-
 
−
| [[Xiaomi]]
 
−
| [[CyberOne]]
 
 
|-
 
|-
−
| [[Anthrobotics]]
+
| [[SoftBank Robotics]]
−
| [[Anthro]]
+
| [[Pepper]], [[NAO]]
 
|-
 
|-
−
| [[Toyota Research Institute]]
+
| [[Stanford Robotics Lab]]
−
| [[Punyo]], [[T-HR3]]
+
| [[OceanOneK]]
 
|-
 
|-
 
| [[SuperDroid Robots]]
 
| [[SuperDroid Robots]]
 
| [[Rocky]]
 
| [[Rocky]]
 
|-
 
|-
−
| [[Proxy]]
+
| [[SUPCON]]
−
|
+
| [[Navigator α]]
 
|-
 
|-
−
| [[AstriBot Corporation]]
+
| [[System Technology Works]]
−
| [[Astribot S1]]
+
| [[ZEUS2Q]]
 
|-
 
|-
−
| [[Beijing Humanoid Robot Innovation Center]]
+
| [[Tesla]]
−
| [[Tiangong]]
+
| [[Optimus]]
 
|-
 
|-
−
| [[Kayra.org]]
+
| [[THK]]
−
| [[Kayra]]
+
|
 
|-
 
|-
−
| [[SUPCON]]
+
| [[Toyota Research Institute]]
−
| [[Navigator α]]
+
| [[Punyo]], [[T-HR3]]
 
|-
 
|-
−
| [[LASER Robotics]]
+
| [[UBTech]]
−
| [[HECTOR V2]]
+
| [[Walker X]], [[Panda Robot]], [[Walker S]]
 
|-
 
|-
 
| [[UC Berkeley]]
 
| [[UC Berkeley]]
 
| [[Berkeley Blue]]
 
| [[Berkeley Blue]]
 +
|-
 +
| [[Unitree]]
 +
| [[H1]], [[G1]]
 +
|-
 +
| [[University of Tehran]]
 +
| [[Surena IV]]
 +
|-
 +
| [[Westwood Robotics]]
 +
| [[THEMIS]]
 +
|-
 +
| [[WorkFar]]
 +
| [[WorkFar Syntro]]
 +
|-
 +
| [[Xiaomi]]
 +
| [[CyberOne]]
 +
|-
 +
| [[Xpeng]]
 +
| [[PX5]]
 
|}
 
|}

Latest revision as of 20:05, 15 November 2024

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.

Feel free to join our Discord community for more real-time discussion!

Getting Started[edit]

Getting Started with Humanoid Robots

Resources
Name Comments
Underactuated Robotics High-quality open-source course from MIT
Advanced Robot Dynamics High-quality open-source course from CMU
Optimal Control High-quality open-source course from CMU
Learning for Adaptive and Reactive Robot Control Textbook for graduate-level courses in robotics
Learning algorithms Resources related with training humanoid models in simulation and real environments
Servo Design A reference for servos that you can use
Category:Guides Category for pages which act as guides
Category:Courses Category for pages about useful courses related to robotics
Category:Electronics Category for pages about electronics topics
Category:Hardware Category for pages relating to hardware
Category:Firmware Category for pages relating to firmware
Category:Software Category for pages relating to software
Category:Teleop Category for pages relating to teleoperation
Category:Papers Category for humanoid robotics papers
Category:Non-humanoid Robots Category for pages relating to non-humanoid robots
Contributing How to contribute to the wiki

Components[edit]

Actuators
SPIN Servo
DEEP Robotics J60
Robstride
MyActuator
Encos
Steadywin
Elemental Motors
Anydrive
HEBI
ZeroErr
CubeMars
MjBots
Dynamixel
LinEngineering
Faradyi
Inference Boards
Jetson
SiMi AI
Motor Controllers
VESCular6
ODrive
OBot
Solo Motor Controller
moteus-n1
K-Scale Motor Controller
Communication Protocols
Controller Area Network (CAN)
Inter-Integrated Circuit (I2C)
Serial Peripheral Interface (SPI)
EtherCAT

Robots[edit]

Company Robots
1X Eve, Neo
AGIBot RAISE-A1
Agility Cassie, Digit
Anthrobotics Anthro
Apptronik Valkyrie, Draco, QDH, Apollo
AstriBot Corporation Astribot S1
Beijing Humanoid Robot Innovation Center Tiangong
Boardwalk Robotics Nadia, Alex
Booster Robotics BR002
Boston Dynamics HD Atlas, Atlas
Bot Company
DATAA Robotics XR4
Deep Robotics Wukong-IV
MagicLab,_DREAME MagicBot
Engineered Arts Ameca
FDROBOT T1
Figure AI Figure 01, Figure 02
Fourier Intelligence GR-1
GALBOT GALBOT
Haier Kuavo (Kuafu)
Honda Robotics ASIMO
Humanoid
Hyperspawn Robotics Shadow-1
Instituto Italiano iCub
Kawasaki Robotics Kaleido, Friends
Kayra.org Kayra
Kepler K1
K-Scale Labs Stompy
Kind Humanoid Mona
LASER Robotics HECTOR V2
LEJUROBOT Kuavo
LimX Dynamics CL-1
MenteeBot MenteeBot (Robot)
Mirsee Robotics Beomni, Mirsee
NASA Valkyrie, Robonaut2
NEURA Robotics 4NE-1
Noetix Dora
PAL Robotics Kangaroo, REEM-C, TALOS
PaXini Tora
POINTBLANK DROPBEAR
Pollen Robotics Reachy
Proxy
Rainbow Robotics HUBO
Robotera XBot, Starbot
Sanctuary Phoenix
SoftBank Robotics Pepper, NAO
Stanford Robotics Lab OceanOneK
SuperDroid Robots Rocky
SUPCON Navigator α
System Technology Works ZEUS2Q
Tesla Optimus
THK
Toyota Research Institute Punyo, T-HR3
UBTech Walker X, Panda Robot, Walker S
UC Berkeley Berkeley Blue
Unitree H1, G1
University of Tehran Surena IV
Westwood Robotics THEMIS
WorkFar WorkFar Syntro
Xiaomi CyberOne
Xpeng PX5
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