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Mechanical

Arm overview 1Arm overview 2

6 DOF Arm + 1 DOF Gripper — Motor Selection​

For faster progress, we will be temporarily switching to attaching a gripper instead of the 15 DOF hands for the arm.

Rated TorquePeak Torque
Shoulder (1-2)AK10-9 V3.018Nm53Nm
Elbow (3-4-5)AK80-9 V3.09Nm22Nm
Wrist (6)GL40 II KV700.25Nm0.73Nm
Gripper (7)GL40 II KV700.25Nm0.73Nm

22 DOF Hand​

22 DOF hand (18 actuated), including 2 DOF for the wrist.

22 DOF hand, palm view 222 DOF hand, dorsal view 222 DOF hand, palm view22 DOF hand, dorsal view22 DOF hand CAD render, palm view22 DOF hand CAD render, dorsal view

Humanoid Leg​

Humanoid leg CAD render 1Humanoid leg CAD render 2Humanoid leg CAD render 3Humanoid leg CAD render 4

6 DOF Per Leg — Motor Selection​

JointDOFMotor
HipPitchAKH70-48
HipYawAK60-39 V3.0 KV80
HipRollAK80-64 KV80
KneePitchAKH70-48
AnklePitchAK60-39 V3.0 KV80
AnkleRollAK60-39 V3.0 KV80

Hip​

The hip design uses the F-A-R (Flexion-Abduction-Rotation) configuration for a compact and biomimetic joint arrangement. This configuration allows for efficient packaging of the actuators while maintaining the necessary degrees of freedom for humanoid locomotion.