UranusAstra / humanoid-robot

An academic project with the objective of developing a functional humanoid robot for research and educational purposes.

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Humanoid Robot Finch

Humanoid robot project aiming to create a working humanoid for academic purposes

Technical assumptions

  • 3D printed (mostly PETG, black, blue, orange, grey)
  • decentralised processing with main processing unit being the Raspberry Pi 4
  • arduinos to handle sensors and motoric control
  • not the whole robot needs a skeleton
  • reinforcement learning mechanisms working in order to learn to e.g. walk
  • 1.1m tall - not a big robot in order to easier balance regaining
  • chatbot can be based on chatGPT or other pretrained transformer (check hugging face)
  • speech modules based on ANN
  • reinforcement learning -> training in symulation

Ongoing considerations

  • construction of the joints
  • specifici stepper motors and servos
  • types of cameras used (can I afford a depth camera)
  • how exactly should the hand be constructed? issues around mobility and servos amonts leading to an increase in forearm weight
  • can artificial muscles be included
  • how can I make the fingers feel something - solution from inMoove?
  • lidar sensors in the chest

Style Facts

  • the robot will be based on my robotic avatar
  • rather light, simple style to reduce weight

Other important things

  • you can do this Alex, just breathe
  • next stages of work concentrare more on the algorithms and general structure so that I can actually go forward

bot-pic

Onshape Link: https://cad.onshape.com/documents/6492b26624eafc8540cf522c/w/7331fc5b38b83009165e4851/e/0ceba0754ce9d00242230898

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An academic project with the objective of developing a functional humanoid robot for research and educational purposes.