Humanoid Design Notes

人设图

Mechanical Details

Bone Dimension

Number of joints: 39

head (neck): 3

arm: (3+2+3) x 2

body: 6

leg: (3+2+2) x 2

Electrical Details

Control System Details

Input methods

• XboxController (Python dotxboxcontroller library)

• IMU angle motion capture (MPU6050 / BNO085) + UWB positioning ++

• Vive VR

• Small scale model ++

• Camera Mocap

Sync methods

• Blender

• Unreal

Output methods

• Blender

• Unreal (digital twin to robot)

• Pi @ Robot, display control status (Operation GUI)

• Actual Robot

Joint Position Packet Format

joints = [arms[], legs[], hands[], head, neck, spines[], waist, hip]

joints[0:6]: left arm
joints[6:12]: right arm
joints[12:18]: left leg
joints[18:24]: right leg
joints[24:29]: left hand (5 fingers)
joints[29:34]: right hand (5 fingers)
joints[34]: head
joints[35]: neck
joints[36]: spine_0
joints[37]: spine_1
joints[38]: waist
joints[39]: hip

Vision feedback