Miha 2 (Mini Humanoid Gen 2) is a 22 Degrees of Freedom (DOF) Humanoid Robot intended for research and learning.
The main features of the robot are:
- 22 high performance daisy chained actuators XL-320 from Robotis
- Main controller: FriendlyElec NanoPi Neo Core2 LTS with:
- Quad-Core Allwinner H5 processor at 1.5GHz
- 1GB RAM
- only 7g weight
- Custom add-on board with:
- 4 channels Dynamixel bus (provided by a FTDI4232H (USB to UART 4 channels)
- LSM330 6 axis IMU (accelerometer and gyroscope)
- Murata 5V 1.5A high performance DC/DC convertor
- 5MP USB camera (in the head)
- 1.5" 128x128 pixel OLED display (I2C SSD1327 chip)
- 8 tactile switches controlled with a TCA9538 I2C I/O expander providing easy interation with the menues on display
- Power provided by 4 18650 industry standard rechargeable batteries located in the feet and hotswappable; the hotswap capability is provided by a pair of small cicuits that provide a "smart diode" functionality, preventing rush current while chainging the batteries. A full charge allows aproximatelly 4 hours of operation.
The software is based on the pypot library and I have plans to include ROS support by leveraging the ROBOTIS-Framework packages.
The robot parts are 3D printed.