AlexBot
An open-source bipedal robot designed for dynamic walking with a cost-effective and rational structure.
- Humanoid
- No license: all rights reserved by the creator
- Works with AI
- 3D printable
Suggested by Robotheca, created by @Alexhuge1 (opens in a new tab), from github.com/Alexhuge1/Alexbot (opens in a new tab). Pinned to commit 7e95627 (opens in a new tab).
- Hardware license
- No license
- Software license
- No license
- Commercial use
- Unknown
No license is stated for part of this robot.
The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.
This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.
Which files (3 scripts, 1 firmware image)
Photo
Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Walks dynamically on two legs
- Uses imitation learning, full-body MPC and WBC for gait planning
- Controlled by upper computer via STM32 control board
- Adjusts joint limits in URDF for electrical control limits
Works with AI
Found by Robotheca in the project's files at commit 7e95627, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Ships trained model files: model_0.pt and 10 more
In the project files: 3-Software(Upper_Computer）/model_pt/model_0.pt“Uses imitation learning, full-body MPC and WBC for gait planning”
Robotheca's notes: What it can do
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.
Read the creator's guideAsk the creator on GitHub (opens in a new tab)Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- STM32H7B0 core board with 9-axis gyroscope for outer loop control
- NVIDIA Jetson Xavier NX as upper computer
- Daimiao DM-J8009 motor for hip joint (20Nm rated, 40Nm peak)
- Daimiao DM-J8006 motors for other joints
- Daimiao DM-J6006 motor for ankle joint
- Two power distribution boards
- 24V power supply for motors
- Step-down module providing 5V for control board
- Step-down module providing 19V for Jetson Xavier NX
Connections
- STM32H7B0 core board connected to Jetson Xavier NX
- Motors connected via CAN bus to STM32H7B0
- Power distribution boards distribute 24V to motors
- 5V and 19V lines from step-down modules to control board and Jetson Xavier NX