Development of 3D Printed Humanoid RobotsPublic Deposited
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This project focused on developing two open-source 3D-printed humanoid robots, Koalby and Ava, as versatile lab assistants with a focus on lifting objects, pushing a cart, and walking. Static and dynamic analyses were carried out to guide a series of redesigns to improve strength and integrate new components. The redesigns included a new grip mechanism to lift objects, sensors to aid the walking component, and component updates to integrate new lower cost motors. The grip was an under-actuated, 3-point finger grip with an electromagnet attached to the base of the forearm. A new spine was created, attached at the chest and pelvis, to assist with stability for standing and walking. The chest and feet were redesigned to include sensors to assist in walking. To make the robots more cost effective, all of the Dynamixel motors were replaced with HerkuleX DRS motors allowing for uniformity in design and programming.
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