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No New Posts The Bipedalism Problem

Exploring the various barriers currently prohibiting rapid & collaborative progress in large (Teen to Adult Sized) bipedal robotics & how each barrier can be removed.

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No New Posts OSHW Licenses

Overview of Open Hardware project terms of use. The key differences between Open Source Software and Open Source Hardware. Patents, Copyright & Prior Art.

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Case Studies (Standing on the Shoulders of Giants)

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No New Posts The Human (Deconstructed)

The human being, if there was ever a case for creating a Standardised Model of Bipedal Robotics, it must surely be based on this incredible feat of engineering, so incredible it's yet to be artificially reproduced. This Case-Study will be the most extensive one covered, mainly for the most simplistic of reasons, every effort in creating the most sophisticated, fast, agile, strong humanoid take insight, design cues et al from this one, singular case & reference point.

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by workrankjenappwhit
Nov 15, 2020 0:08:06 GMT
No New Posts DarwinOP (Deconstructed)

DarwinOP (Dynamic Anthropomorphic Robot With Intelligence-Open Platform) is an open source (software/hardware) humanoid manufactured by Robotis in collaboration with Virginia Tech, Purdue University, and the University of Pennsylvania.

The DarwinOP used a total of 20x DOF, actuated with Dynamixel MX-28T servo's. Subsequent to the success of the original DarwinOP, the DarwinOP2 was released. Both versions utilise the Dynamixel MX-28T servo's, have 20x DOF, weigh 2.9kg & stand at 454.5mm tall.

DarwinOP has competed & took first place in the kids-size (400-600mm restriction) league of Robocup three consecutive years running (2011, 2012 & 2013).

The Open-Source nature & documentation of various studies on the DarwinOP platform allow for extensive research into its morphology, mechanical design and dynamic control methods. It is hoped that at least. Theres potentially many valuable insights to be gathered within this information which could be adapted & ported to a larger bipedal design.

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by workrankjenappwhit
Nov 15, 2020 0:31:16 GMT
No New Posts Kondo KHR-3HV (Deconstructed)

Possibly the most familiar, and perhaps most popular humanoids in the hobby humanoid circuit is the Kondo KHR-3HV. The KHR-3HV's popularity grew exponentially after a series of YouTube videos began surfacing, posted by a mysterious 'Dr Guero' figure. One video showed the KHR-3HV walking casually across a wooden floor in the most humanlike fashion, another shows the KHR-3HV cycling around on a tailor made tiny bicycle, yet another video appeared of KHR-3HV walking across a tightrope, and many other videos of the KHR-3HV performing incredible feats have appeared since. It is for these displays of astonishing abilities of balance the KHR-3HV platform should be put under the microscope.

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by hillcagoddustbiz
Aug 27, 2020 14:37:10 GMT
No New Posts The Poppy Project (Deconstructed)

An Open Source (software & hardware) 3d printable, 84cm tall, 3.5kg humanoid. Possibly one of the most interesting aspects of this project (to date) & highly worth exploring is why any bipedal video material has always been 'aides' in some respect or another. It is important to also explore the many impediments to achieving bipedal locomotion in order to achieve success the success of 'unaided' bipedal locomotion.

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by workrankjenappwhit
Nov 15, 2020 0:34:13 GMT
No New Posts CHARLI-2 (Deconstructed)

Continuing on from the previous success of the CHARLI-L, Dennis Hong lead the development of the CHARLI-2. One of the more noteable mechanical design differences was the loss of the Four-bar linkage/stretched-spring-configuration, the adoption of simple 1:3 pinion-gear about major DOF's of the legs, the reduction of overall weight & the considerable improvements in both walking speed & gait. Again, CHARLI-2 has many experiment, test & resulting analysis documented containing a wealth of information free to study.

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by inriodiscoza
Oct 14, 2021 10:51:10 GMT
No New Posts CHARLI-L (Deconstructed)

CHARLI-L (lightweight) built by MIT's RoMeLa team, lead by Dennis Hong. With a height of 1.41m, and a comparatively ultra-lightweight at 12.1kg, CHARLI-L uses a combination of the popular Robotis Dynamixal servo's. CHARLI-L is indeed worthy of investigation to access strong areas of design, areas which might have benefited from improvement & many other avenues worth exploring. The CHARLI-L uses a ZMP-based control approach around a custom sinusoidal gait pattern. There is much documentation available to freely study & better focus areas of investigation.

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by inriodiscoza
Oct 14, 2021 10:45:27 GMT

Actuators (Legs & Hips)

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No New Posts Actuators (Entire Assembly Design & Envelope Parameters)

The entire (actuator, reduction drive & control electronics) assemblies general design, weight & dimensional envelope should be determined at the earliest opportunity, as these important parameters will dictate the design requirements (and limits) around which 'base' actuator, reduction drive & control/sensor decisions will be based.

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No New Posts Actuators (Motor Control/Feedback Sensors)

Discussions around motor controller boards (DIY/Off-The-Shelf) options, most suitable Communication Protocols, types of Sensors (Position, speed, current, temp). Ultimately deciding upon criteria of Actuators sensing/control specs & parameters to meet essential requirements.

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No New Posts Actuators (Gearing Up Torque/Down Speed)

Discussion of Key specifications, ratio required to achieve speed & torque, (keeping size, weight & affordability in mind). Types of gear-drives, benefits & shortcomings of each type. Overcoming cost prohibitive options. Investigating material properties wherever fabrication may be possible.

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by workrankjenappwhit
Nov 15, 2020 0:28:17 GMT
No New Posts Actuators (Power & Affordability)

Discussion on 'base' actuator selection. Power, torque & affordability are key areas of consideration. Key Spec approximations of 'base' actuators set forward in 'Summary' section of the 'Case-Studies' category.

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Board Threads Posts Last Post
No New Posts Thoughts & Musings on Bipedalism

Discussion, theory & proposals on key parameters with the aim of forming key parameters in bipedalism which can be viewed as general 'Rules of Thumb' and/or 'Universal Truths' to aid in the design, construction & trajectory planning of humanoids.

The initial threads created in this board by no means need to be polished, perfectly accurate ideas. It should be viewed more as an outlet or platform to explore & investigate key ideas/theories fundamental in the field of walking humanoids.

The overarching, or 'Bigger-Picture' behind this Board is to form & grow these general Rules-Of-Thumb or Universal-Truths, to the point these ideas or theories are either proved or disproved, at which stage we can categorise the disproven as 'Not-Strictly-Speaking', and ideas/theories which can be established as proven will be categorised & used as the framework in establishing our 'Standardised Model' which will eventually simplify & make more accessible, the field of humanoid bipedalism.

Sub-board: Assessing Human Performance

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by inriodiscoza
Oct 14, 2021 10:54:03 GMT
No New Posts General Discussion

You can talk about anything here.

Moderator: Admin

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by workrankjenappwhit
Nov 15, 2020 0:42:59 GMT


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