150cm Humanoid Robot Project

Project Overview

This is a comprehensive multi-year project to build a fully functional humanoid robot from scratch. The robot will stand 150cm tall and feature autonomous balance, walking capabilities, and arm manipulation.

Project Timeline: 3 years Budget Range: $8,000 - $12,000 (mid-range) Target Height: 150 cm Degrees of Freedom: 25-30 DOF

Project Goals

• Primary: Build a humanoid robot capable of standing, balancing, and walking
• Secondary: Implement arm manipulation and object interaction
• Tertiary: Develop advanced features like vision-based navigation and voice interaction

Robot Specifications

Physical Dimensions

• Total Height: 150 cm
• Head: ~20 cm
• Torso: ~45 cm
• Arms: ~55 cm each (shoulder to fingertips)
• Legs: ~75 cm each (hip to foot)
• Estimated Weight: 8-12 kg (depending on materials)

Degrees of Freedom (DOF) Breakdown

• Legs: 12 DOF total
  • Hip: 3 DOF per leg (flexion/extension, abduction/adduction, rotation)
  • Knee: 1 DOF per leg (flexion/extension)
  • Ankle: 2 DOF per leg (dorsiflexion/plantarflexion, inversion/eversion)
• Arms: 10 DOF total
  • Shoulder: 3 DOF per arm
  • Elbow: 1 DOF per arm
  • Wrist: 2 DOF per arm
  • Gripper/Hand: 1 DOF per arm
• Torso: 2 DOF
  • Waist rotation: 1 DOF
  • Waist tilt: 1 DOF
• Head/Neck: 3 DOF
  • Pan: 1 DOF
  • Tilt: 1 DOF
  • Roll (optional): 1 DOF

Total: 27 DOF

Project Structure

Human Robot/
├── README.md                           # This file
├── docs/
│   ├── 01-BOM.md                      # Bill of Materials
│   ├── 02-Mechanical-Design.md        # Mechanical specifications
│   ├── 03-Electrical-Design.md        # Electronics and wiring
│   ├── 04-Software-Architecture.md    # Software design
│   ├── 05-Assembly-Guide.md           # Build instructions
│   ├── 06-Testing-Calibration.md      # Testing procedures
│   └── 07-Resources.md                # References and links
├── cad/                                # CAD models (to be created)
├── firmware/                           # Motor controller code (to be created)
├── software/                           # High-level control software (to be created)
├── electronics/                        # Circuit diagrams and PCB designs (to be created)
└── research/                           # Research notes and papers (to be created)

Three-Year Development Plan

Year 1: Foundation & Lower Body

Months 1-3: Research & Design

• Study existing humanoid robots (InMoov, Poppy, THOR)
• Learn CAD software (Fusion 360 or FreeCAD)
• Create complete CAD model of robot
• Finalize component selections

Months 4-8: Procurement & Leg Prototyping

• Order initial components (servos, sensors, materials)
• Build and test single leg assembly
• Validate torque requirements and joint design
• Iterate on mechanical design

Months 9-12: Lower Body Assembly

• Build complete lower body (pelvis + both legs)
• Implement basic IMU-based balance control
• Test standing stability
• Refine power distribution system

Year 2: Upper Body & Software Foundation

Months 1-6: Upper Body Construction

• Build torso structure
• Construct both arm assemblies
• Build head with sensor mounts
• Full mechanical integration

Months 7-12: Core Software Development

• Implement forward/inverse kinematics
• Develop basic balance controller
• Create initial gait generation
• Set up sensor fusion system
• Build control interface

Year 3: Walking & Advanced Features

Months 1-6: Integration & Walking

• Full system integration
• Progressive testing (standing → shifting → stepping → walking)
• Gait refinement and optimization
• Arm coordination during walking

Months 7-12: Advanced Capabilities

• Vision-based navigation
• Object recognition and manipulation
• Advanced balance recovery
• Autonomous behavior development
• Documentation and demonstration

Key Technologies

Hardware

• Actuators: Digital servo motors (Dynamixel or equivalent)
• Main Controller: Raspberry Pi 5 or NVIDIA Jetson Nano
• Motor Controllers: Arduino Mega/Teensy 4.1 or dedicated servo controllers
• Sensors: IMU, force sensors, encoders, cameras
• Power: LiPo batteries (3S-4S, 5000-10000mAh)
• Structure: Aluminum extrusions + 3D printed parts (ABS/PETG)

Software

• Programming Languages: Python (high-level), C++ (low-level control)
• Framework: ROS 2 (Robot Operating System) - recommended
• Simulation: Gazebo or PyBullet
• CAD: Fusion 360 or FreeCAD
• Version Control: Git

Getting Started

1. Read all documentation in the docs/ folder in order
2. Start with research: Study recommended open-source projects
3. Learn CAD: Complete basic tutorials in Fusion 360 or FreeCAD
4. Set up development environment: Install Python, ROS, and simulation tools
5. Order initial components: Start with a small test set of servos and electronics
6. Build test prototypes: Create simple mechanisms before committing to full design

Safety Considerations

• Electrical: Use proper fuses, voltage regulation, and battery management
• Mechanical: Ensure all moving parts have proper clearance and safety margins
• Testing: Always test new features in safe, controlled environment
• Emergency Stop: Implement hardware e-stop button
• Power Management: Include voltage monitoring and automatic shutdown
• Weight: Be cautious of robot falling during testing (use support frame initially)

Current Status

Phase: Planning and Documentation Completed: Initial project plan and documentation structure Next Steps: Begin research phase and component selection

Contributing

This is a personal project, but ideas and suggestions are welcome.

License

This project documentation is released under MIT License. Component selections and original designs are provided as-is for educational purposes.

Contact & Notes

Project Start Date: 2025-11-26 Last Updated: 2025-11-26

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"The journey of a thousand miles begins with a single step" - And this robot will take many steps!