import Image from 'next/image'; import prop from '../../asset/propmatch.png'; import sysA from '../../asset/SysAr.png'; import g1t from '../../asset/ExtremeTorqueG1.png'; # Specifications ## Height & Weight * **Height**: 1.2 m * **Weight (target)**: < 40 kg (including battery) ## Degrees of Freedom * **Total**: 26 DOF * **Legs**: 6 DOF × 2 (hip: yaw/pitch/roll, knee: pitch, ankle: pitch/roll) * **Arms**: 5 DOF × 2 (shoulder: yaw/pitch/roll, elbow: pitch, wrist: pitch/roll) * **Torso**: 2 DOF (yaw, pitch) * **Head**: 2 DOF (yaw, pitch) ## Kinematics (Human-Inspired Ranges) **Legs** * Hip: yaw ±45, pitch +120/−30, roll ±45 * Knee: 0→135° * Ankle: pitch +45/−20, roll ±20 **Arms** * Shoulder: yaw ±90, pitch +180/−60, roll ±90 * Elbow: 0→145° * Wrist: pitch ±75, roll ±85 **Torso** * Yaw ±45, Pitch ±30 **Head/Neck** * Yaw ±80, Pitch +50/−40 ## Actuation The robot uses **ENCOS integrated joint modules**, combining BLDC motors, planetary reducers, dual encoders, and servo drivers. ### Upper Body Specifications for the upper body actuators (arms, torso, head) are in progress and will be documented as the design matures. ### Lower Body The lower body actuators are defined and validated. | Joint | Model | Voltage | Gear Ratio | Rated Torque | Peak Torque | Rated Speed | | --------------- | ---------------- | ------- | ---------- | ------------ | ----------- | ----------- | | Hip — Flexion | EC-A6416-P2-25 | 48 V | 25:1 | 40 Nm | 120 Nm | 107 RPM | | Hip — Abduction | EC-A5013-H17-100 | 48 V | 100:1 | 30 Nm | 90 Nm | 33 RPM | | Hip — Rotation | EC-A3814-H14-107 | 48 V | 107:1 | 20 Nm | 60 Nm | 47 RPM | | Knee | EC-A4315-P2-36 | 48 V | 36:1 | 25 Nm | 75 Nm | 109 RPM | | Ankle | EC-A4310-P2-36 | 48 V | 36:1 | 12 Nm | 36 Nm | 75 RPM | ### Empirical Torque Testing We instrumented a **UniTree G1** test rig to measure **maximum torque capabilities** across joints under extreme scenarios (e.g. push recovery, near-fall arrest). From these experiments, we derived *operational torque envelopes* — how much torque each joint can reliably deliver under load. This dataset guides safe actuator selection and control limits.

### Alternate Actuator Options Explored We evaluated actuator modules from **MyActuator** and **CubeMars**, but they failed to satisfy our **form factor, torque, or rpm requirements** for this design. * MyActuator: *[myactuator.com](https://myactuator.com)* (insufficient torque-to-size ratio) * CubeMars: *[cubemars.com](https://www.cubemars.com)* (didn’t meet required rpm and output specs) We settled on ENCOS modules as the best match for our performance, integration, and size targets. --- If you want, I can convert this entire Actuation section into a final polished version (without commentary) ready for direct inclusion in your spec sheet. ## Power System * **Bus Voltage**: 48 V DC * **Battery**: 48 V Li-ion, 10 Ah (≈480 Wh) * **Pack**: Swappable, integrated BMS with OV/UV, OC, short, and thermal protection * **Charging**: External CC/CV charger, ~2 h full cycle * **Runtime**: ~1–2 h mixed locomotion and manipulation * **Safety**: E-stop relay disconnect on 48 V line ## Sensors * **Vision**: 4× ArduCam **AR0234** global-shutter cameras (synchronized) * **Encoders**: Dual encoders per ENCOS joint (motor + output) with ≤0.1° accuracy * **IMU**: 9-axis (gyro, accel, mag) for balance and state estimation * **Audio**: Seeed Studio **ReSpeaker Mic Array v3.0** + onboard speaker * **Omitted by Design**: No LiDAR, no foot sensing, no proximity sensors More on our vision capabilities can be found [here](../neocortex/vision.mdx). ## Control & Electronics * **Middleware**: **Menlo ROS** * **Main Compute**: **Neocortex** custom-developed platform for perception, planning, and control * **Actuator Network**: CAN bus @ 1 Mbps to ENCOS modules * **Power Domains**: 48 V actuator rail; 12–24 V logic/perception rail; isolated DC-DC; e-stop latching relay * **Audio**: ReSpeaker Mic Array v3.0 + onboard speaker ## System Architecture & Communication The Asimov Robot uses a **distributed control architecture**. Actuators are grouped by limb and managed through local microcontrollers (MCUs), which communicate over a shared **CAN bus**.

### Architecture Overview * **Main Compute (SoC)**: NeoCrotex runs Menlo ROS, handling perception, planning, and high-level control. * **MCU 1**: Serves as the gateway between the SoC and the CAN bus. Communication via **UART** from SoC, with an **RF transceiver** link available for wireless updates or monitoring. * **CAN Bus Backbone**: Deterministic, real-time communication channel connecting all limb MCUs. ### Limb-Level Control Each MCU manages a group of actuators for one limb or subsystem: * **MCU 2 & MCU 3**: Left leg (6 actuators each, split across hip, knee, ankle). * **MCU 4**: Left arm (5 actuators) + left hand. * **MCU 5**: Right arm (5 actuators) + right hand. * **MCU 6**: Neck (2 actuators) + torso (2 actuators). ### Communication Layers * **High-Level Commands**: Motion planning and perception data flow from NeoCrotex (SoC) to MCU 1. * **Mid-Level Control**: MCU 1 distributes commands over the CAN bus to limb MCUs. * **Low-Level Execution**: Each limb MCU handles joint-level servo loops (position, velocity, torque) through ENCOS actuator drivers. This layered design provides: * **Scalability**: New limbs or subsystems can be added by attaching another MCU to the CAN bus. * **Fault Isolation**: Failures remain localized to a single limb MCU. * **Real-Time Guarantees**: CAN ensures deterministic timing for joint commands. ## Construction Philosophy * **Complete Documentation**: Mechanical, electronic, and software specifications available * **True Ownership**: Full modifiability, repairability, and upgrade freedom * **Accessible Manufacturing**: Off-the-shelf components + optimized 3D-printed parts * **Modularity**: Arms, legs, torso, and head can be independently assembled or replaced * **Serviceability**: Quick disassembly without specialized tools * **Collaborative Development**: Comprehensive documentation for continuous improvement ### Proportions We defined the robot’s proportions using *Winter, D. A. (2009). Biomechanics and Motor Control of Human Movement (4th ed.). John Wiley & Sons, p. 83*.

* A **parametric model** was created to adjust height and calculate dimensions joint-to-joint. * This model was **overlaid with a scaled human figure (1.2 m tall)**. * The overlay confirmed correct joint alignment, resulting in a **consistent anthropomorphic humanoid shape**.