HURON: Full-size Humanoid Robot (Lower Body)

Juneja, Sahen; Giralt Ortiz, Carlos; Nguyen, Nhi; Doan, Thai Duc

Student Work

HURON: Full-size Humanoid Robot (Lower Body)

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Our team at WPI is deeply committed to addressing the significant challenges in humanoid robot research. These challenges include the high costs associated with humanoid robots, the lack of commercialized options in the market, and the absence of a generalized robotics framework in research, which leads to extensive time spent coding repetitive tasks. To tackle these issues, our project is divided into two main components: hardware redesign and the development of a generic software solution. On the hardware front, we are building upon the foundation laid by last year’s HURON MQP, which successfully assembled the majority of the lower body of the HURON humanoid robot. Our current focus is on redesigning and manufacturing the ankle mechanism, accompanied by an in-depth performance analysis. For the software, we are dedicated to creating a robust, open-source software platform that supports advanced research in bipedal and humanoid locomotion with the HURON robot. This software work includes the framework development and hardware validation of our push recovery algorithm to apply our framework on HURON. We aim for our software to be modular, scalable, maintainable, and user-friendly. Moreover, our hardware goals are directed toward designing a lightweight structure that accurately mimics human gait while also ensuring durability and affordability. By concentrating on enhancing the ankle mechanism and forging a state-of-the-art software platform, our project sets a new standard for humanoid robot research at WPI and contributes significantly to advancements in the Almas Lab. The outcome of this project will pave the way for future innovations in humanoid robotics at WPI and provide an easy-access framework for robotics researchers worldwide.

This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

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