Technical Specifications

Design

• Onshape CAD model

• Fusion 360 model

• 12 degrees of freedom, 3 in each leg

• 3kg weight

• Dimensions in crouched position

  • 25cm length

  • 20cm height

  • 22cm width

Compute

• Raspberry Pi 5 8gb

• M.2 slot available for AI accelerator

Actuators

• Steadywin GIM4305 actuators

  • 4005 brushless motor

  • 10:1 planetary gearbox

  • ~ 3.5 Nm peak torque

  • ~ 1.0 Nm continuous torque with air cooling

  • ~ 30 rad/s max speed

• 9g servo motors to actuate the ears

Sensors

• 6DOF BNO086 IMU

• IMX296 222deg FOV fisheye camera in the nose

• Microphone for voice interaction

• Motor drivers report actuator angles, velocities, and efforts

• Battery voltage ADC

Extras

• 4”x4” LCD for showing expressive facial animations and for debugging

• 3W speaker located behind the nose for voice interaction