# zeroth-bot **Repository Path**: becomehero/zeroth-bot ## Basic Information - **Project Name**: zeroth-bot - **Description**: No description available - **Primary Language**: Unknown - **License**: MIT - **Default Branch**: add-pcb-files - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2024-11-17 - **Last Updated**: 2024-11-17 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # Open Low Cost Humanoid (WIP) **OpenLCH is an open-source ultra-low-cost humanoid robot designed for experimenting with machine learning methods for robot control.** > [!WARNING] > The project is currently in progress (V0.3.1) We designed our robot in OnShape, trained the PPO model in Isaac Gym, and are now transfering it onto the physical robot. Check out our public roadmap for updates [here](https://jingxiangmo.notion.site/1041ecfa6e9680ebba48e2d6671842ee?v=db386e8deaab4b008bdca9787878d743&pvs=4). Our goal is to build and deploy a large amount (20-30) of small humanoid robots to the physical world and create an affordable open-source platform for humanoid research and competitions. The robot design is inspired by [Robotis OP3](https://emanual.robotis.com/docs/en/platform/op3/introduction/), while the initative is inspired by [Alex Koch's robot arms](https://github.com/AlexanderKoch-Koch/low_cost_robot). We made the first version of this humanoid robot at a [hackathon](https://github.com/jingxiangmo/low_cost_humanoid/blob/0ab372ece6673fc3f66a62588d88ebfb2695d9be/README.md) in 24 hours on 2024/08/31.

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> [!NOTE] > Interested in updates, contributing, or building your own mini humanoid? Let us know through our interset form [here](https://forms.gle/AvDzMEFUYeVNtFvj6): https://forms.gle/AvDzMEFUYeVNtFvj6!
## Mechatronics Specifications: | Height | Weight | DoF | |:--|:--|:--| | 50cm | 15lb | 16 (5 DoF per leg, 3 DoF per arm) | ### CAD **OnShape**: https://cad.onshape.com/documents/cacc96f8a7850b951e7aa69a/w/3a0a4ee9d8251956ba5e5e92/e/b92662619a7718ffa83530f2 **URDF/MJCF**: https://kscale.store/file/5b9b5eecb7ffcab1 ## BoM | Part | Description | Link | Quantity | Total Cost (USD) | Date Decided | |:-- |:-- |:-- |:-- |:-- |:-- | | Serial BusServos | STS3215 30KG Serial Bus Servo | [Link](https://www.alibaba.com/product-detail/ST3215-Servo-30KG-Serial-Bus-Servo_1600869438006.html?spm=a2700.galleryofferlist.normal_offer.d_title.255913a0RkAWz6&selectedCarrierCode=SEMI_MANAGED_STANDARD@@STANDARD) | x16 | 222.24 | 9/10 | | Controller | Milk-V | [Link](https://milkv.io/duo-s) | x1 | 10 | TBD | | Servo driver board | Waveshare Bus Servo Adapter | [Link](https://www.waveshare.com/bus-servo-adapter-a.htm) | x1 | 7 | 10/05 | | IMU | RP2040 MCU Board | [Link](https://www.waveshare.com/rp2040-lcd-1.28.htm) | x1 | 16 | 10/03 | | Camera | Milk-V CAM-GC2083 | [Link](https://arace.tech/products/milk-v-cam-gc2083) | x1 | 4 | 10/05 | | Battery | RC Lipos | [Link](https://www.amazon.com/KBT-1200mAh-Rechargeable-Replacement-Compatible/dp/B0C23Y3VZK?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&smid=A3FKMD6P089KQA&th=1) | x1 | 33 | Proposed | | 12V to 5V | 12V to 5V, 3 amp capacity (may need connectors) | [Link](https://www.digikey.com/en/products/detail/dfrobot/DFR0571/9559261?utm_adgroup=&utm_source=google&utm_medium=cpc&utm_campaign=PMax%20Shopping_Product_Low%20ROAS%20Categories&utm_term=&utm_content=&utm_id=go_cmp-20243063506_adg-_ad-__dev-m_ext-_prd-9559261_sig-Cj0KCQjwxsm3BhDrARIsAMtVz6OMuYeF6xr0kLeY_OpvuVUEMmsyxZNsa2Y6567T93VBpmQ31ocUh2kaAkzOEALw_wcB&gad_source=1&gbraid=0AAAAADrbLlgUgtqZiYHKHVpeN-YpI-cro&gclid=Cj0KCQjwxsm3BhDrARIsAMtVz6OMuYeF6xr0kLeY_OpvuVUEMmsyxZNsa2Y6567T93VBpmQ31ocUh2kaAkzOEALw_wcB) | x1 | 3 | 9/24 | | Microphone | TBD | | x1 | | | | Molex servo connectors | 5264-3p compatible connectors (or extending servo cables provided with servos) | [Link](https://www.amazon.com/Keszoox-Compatible-Connector-Pre-Crimped-KS-MX5264/dp/B0DCZ43FFC) | x1 | 25 | 10/05 | ## Parts Assembly Guide WIP, coming soon... We're currently 3D printing and testing the hardware. ## Software ### Firmware WIP, coming soon... We're currently writing our firmware for sensors and controllers. ### Runtime WIP, coming soon... We're currently working on robot control that will be written in Rust for performance and safety (and enjoyment). :) ## Simulation We're using the K-Scale simulation library (based on Isaac Gym) to simulate and training our robot.
Isaac Gym CAD Model
*Left: URDF Model, Right: Isaac Gym Training* ### NVIDIA Isaac (Humanoid) Gym We use NVIDIA Isaac Gym to simulate, train, and test the robot for locomotion based on the K-Scale simulation library. Link: https://github.com/jingxiangmo/sim/tree/master Docs: https://docs.kscale.dev/software/simulation/isaac To test policy in MuJoCo, you can use the following command: ```bash export MODEL_DIR=sim/resources python sim/sim2sim.py --load_model examples/standing.pt --embodiment stompymicro ``` ### PyBullet Currently the URDF model also support PyBullet using K-Scale OnShape library: https://docs.kscale.dev/software/onshape ## ML ### Locomotion #### RL (PPO) We use PPO to train the robot to stand and walk. The training is done in Isaac Gym with the K-Scale simulation and training library: https://github.com/jingxiangmo/sim/tree/master. ### Manipulation #### E-VLA (WIP) Integration of E-VLA will be in V2. For more details, please refer to the [E-VLA documentation](https://docs.kscale.dev/software/models/evla). #### K-Lang (WIP) Integration of K-Lang will be in V2. For more details, please refer to the [K-Lang documentation](https://docs.kscale.dev/software/klang/intro). ## License This project is licensed under the MIT License. ## Contributors Core contributors: - **Kelsey Pool** - mechanical & design - **Denys Bezmenov** - electrical & embedded - **Jingxiang Mo** - electrical, software, & ML Open Source Acknowledgment: - **Henri Lemoine** - ML - **Advait Patel** - ML
Hackathon Team
Robot Waving
- **Kelsey Pool** - Mechanical design - **Denys Bezmenov** - Electrical and software control - **Jingxiang Mo** - Mechanical assembly, electrical, and software control - **Baaqer Farhat** - Mechanical assembly, software Acknowledgement: - **Jacob Zietek** - AI/ML and simulation help - **Saad Sharief** - Teleoperation help
Last updated: 2024/09/27