The University of California, Berkeley, has published the Berkeley Humanoid Lite project, which is the result of research and experiments in the field of creating easy-to-make humanoid robots. The robot is built using open source software and is being developed in accordance with the Open Hardware concept. The hardware is formed from standard components available on the market and parts manufactured on a 3D printer. Machine learning models, software source code, schematics, a list of components (BOM), an assembly plan, and models for 3D printing have been published.
The source code of the firmware of the actuator controllers and low-level control hardware executed on the robot side is open under the MIT license, as well as external components such as the environment for developing control scenarios, the environment for simulation, training of motion models and verification, built on the basis of the Isaac Lab, Isaac Sim and MuJoCo frameworks. Standard SteamVR virtual reality controllers can be used for remote control.
The machine learning models used in the experiments are published separately, and a locomotion controller is proposed that uses a reinforcement machine learning model to ensure the robot moves to a given point. The use of the robot as a manipulator remotely controlled by a person is demonstrated. Experiments are underway in the field of autonomous navigation, obstacle avoidance, reproduction of fine motor skills, and coordination of movements during upright walking.
The project can be used by other researchers as an inexpensive starting point for learning and conducting research in the field of robotics. No special skills are required for assembly, and anyone can use the provided instructions and diagrams to create their own copy, spending less than $ 5000. The robot is modular and designed to be modified and adapted for its own purposes, for example, after minimal modification, it can be transformed from bipedal to quadrupedal or canaur-like.
The main factor in reducing the cost of production was the use of plastic parts manufactured on a 3D printer in the design. At the same time, the researchers had to solve a number of problems related to the reliability and durability of transmissions based on plastic rather than metal gears. The limitations were overcome by using a cycloid gearbox.
Source: opennet.ru
