Getting Started with Humanoid Robots

This is a build guide for getting started experimenting with your own humanoid robot.

This is incomplete; you can help by expanding it!

update:work in progress - starting with a template, plan to expand on sections :)

This guide is crafted for enthusiasts who are not just looking to study humanoid robotics but to actually build and experiment with their own robots.

Actuators and Gearboxes

Actuator Types and Design Inspirations

Planetary and Cycloidal Gear Actuators

These actuators remain popular in the robotics community due to their high torque output and compact form factors. Planetary gears are favored for their efficiency and ability to handle high power densities, crucial for humanoid robotics. Cycloidal gears offer superior load-bearing capabilities and minimal backlash, ideal for precise motion control.

Series Elastic and Quasi-Direct Drive Actuators

Series Elastic Actuators (SEAs) are used in applications requiring safe and compliant human-robot interaction. They incorporate elastic elements, allowing for energy absorption and safer interactions. Quasi-Direct Drive Actuators provide a balance between the control fidelity of direct drives and the mechanical simplicity of geared systems, promoting natural and responsive movements.

MIT Cheetah Actuator

The MIT Cheetah actuator design is a notable example that several community members are considering emulating. Its design optimizes for rapid, dynamic movements and could potentially set a standard for agile robotic locomotion.

Open-Source Development and Collaboration

SPIN: A Revolutionary Servo Project

The [SPIN project](https://github.com/atopile/spin-servo-drive) by Atopile is developing an open-source hardware project aimed at making it easier and more cost-effective to use BLDC servo motors. This project is particularly notable for its potential to democratize high-quality actuator technology, making it accessible for a broader range of developers and hobbyists.

Community Insights and Future Directions

Comprehensive Actuator Comparisons

The community actively discusses the need for a universal platform to compare and contrast the cost and performance of commercially available actuators. This could involve developing a comprehensive database or chart detailing each actuator's cost per Newton-meter, control schemes, and RPM, providing a valuable resource for both newcomers and experienced developers.

Custom Actuator Developments

There are discussions about custom actuator developments tailored for specific applications. For example, discussions from [Iris Dynamics on electric linear actuators](https://irisdynamics.com/products/orca-series) suggest they can match the capabilities of human muscles, making them particularly interesting for humanoid applications.

Assembly Tips

Community Forums

Leverage discussions from platforms like RobotForum to avoid common pitfalls. Whether it's selecting the right planetary gearbox or figuring out the optimal motor for each joint, community insights can be invaluable.

Programming and Control

ROS (Robot Operating System)

Start with ROS for an extensive suite of tools for programming and control, suitable for managing complex robotic functions.

Custom Software Solutions

Explore custom algorithms for adaptive control or reactive behaviors. Integrate advanced sensor feedback loops for real-time adjustments.

Experimenting with Your Humanoid Robot

Testing and Iteration

Virtual before Physical

Use ISAAC Sim to test your designs under various simulated conditions to refine your robot's mechanics and electronics.

Real-World Testing

Gradually transition to physical testing, beginning with simple tasks and moving to more complex interactions.

Data Collection and Analysis

Camera Systems

Consider integrating advanced camera systems like those from e-con Systems or Arducam for visual feedback and navigation. Discuss camera choices, considering factors like latency, resolution, and integration ease with your main control system.

Advanced Customization and Community Engagement

Open Source Projects

Contribute to or start your own open-source project. For instance, platforms like GitHub host numerous projects where you can collaborate with others such as K-Scale https://github.com/kscalelabs

Modular Design

Engage in modular robot design to easily swap components or aesthetics. This approach allows for extensive customization and upgrades over time.

Safety and Continuous Learning

Safety Protocols

Always implement robust safety measures when testing and demonstrating your robot.