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 :)
Getting Started with Building and Experimenting with Your Own Humanoid Robot
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.
Contents
Key Components and Tools
Fundamentals to Get You Started
Humanoid Robot Anatomy: Understand the basics of sensors, actuators, and controllers. Consider what makes a humanoid robot function—from the planetary gear configurations in the joints to the complex sensor arrays for environmental interaction.
Simulation Tools:
ISAAC Sim by NVIDIA: Before assembling your robot, simulate your designs in ISAAC Sim. This tool is perfect for experimenting with different configurations in a controlled virtual environment, minimizing costs and potential damage to physical components.
Building Your Humanoid Robot
Selecting Components:
Actuators and Gearboxes: Whether you're looking at traditional servos or exploring advanced options like the MyActuator X-Series or cycloidal gears, understanding the torque, speed, and precision each component offers is crucial. Check out community-generated charts and databases for a breakdown of cost vs. performance. 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 the Kayra project, a 3D printable open-source humanoid robot. Modular Design: Engage in modular robot design to easily swap components or aesthetics. This approach allows for extensive customization and upgrades over time. Safety, Ethics, and Continuous Learning Safety Protocols: Always implement robust safety measures when testing and demonstrating your robot.
