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Lele Burger

@serious0nhc • 1,112 subscribers

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DIY 7-DOF Humanoid Arm

DIY 7-DOF Humanoid Arm

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My 10-week independent project for the Northwestern University MSR (MS in Robotics) program: Northwestern Humanoid. In short, I built the humanoid robot's hardware, integrated its motors and sensors with ROS, and successfully simulated its walking using an RL policy. #Robotics
0:29
serious0nhc's profile picture

My 10-week independent project for the Northwestern University MSR (MS in Robotics) program: Northwestern Humanoid. In short, I built the humanoid robot's hardware, integrated its motors and sensors with ROS, and successfully simulated its walking using an RL policy. #Robotics

Lele Burger

37,740 Aufrufe • vor 1 Jahr

Tendon-driven Dexterous Hand 2N Finger: Four ODrive-driven brushless motors, with Teensy and ODrive communicating via CAN (mcp2561), and a custom serial protocol between the PC and Teensy. The MCP and PIP joints are coupled in motor control, making kinematics a challenge.
0:43
serious0nhc's profile picture

Tendon-driven Dexterous Hand 2N Finger: Four ODrive-driven brushless motors, with Teensy and ODrive communicating via CAN (mcp2561), and a custom serial protocol between the PC and Teensy. The MCP and PIP joints are coupled in motor control, making kinematics a challenge.

Zhengxiao Han

15,362 Aufrufe • vor 1 Jahr

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