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CocoNuts

An open-source humanoid robotics research platform that minimizes leg inertia by concentrating mass near the limb roots using timing belts and parallel linkages.

  • Humanoid
  • Open source
  • 3D model (URDF)

Suggested by Robotheca, created by @MarcDcls (opens in a new tab), from github.com/MarcDcls/coconuts (opens in a new tab). Pinned to commit 185c56a (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
CERN-OHL-S-2.0 (opens in a new tab)
Software license
Apache-2.0 (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (10 scripts)

Photo and 3D model

This repository has no photo of the robot yet.
Try it in the browser

3D preview converted from github.com/MarcDcls/coconuts at 185c56a, under CERN-OHL-S-2.0. View the original files from GitHub (11.1 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Designed as a humanoid research platform minimizing leg inertia by moving actuator mass toward the hip using timing belts and a parallel linkage.
  • Benchmark leg can run sinusoidal trajectories on the knee and ankle, ankle only, or knee only, plus a zero-position trajectory.
  • Benchmark can be visualized in a meshcat simulator before running on real hardware with --send.
  • Command-line scripts set motor IDs, ping motors, set zero positions, stop motors, read state, set CAN filters, acceleration limits, PID gains and read ROM parameters.
  • Project is currently on hold and maintained as an open-access technical reference.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @MarcDcls (README.md), under CERN-OHL-S-2.0 (hardware) and Apache-2.0 (software).

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • RMD-X6 QDD servomotors used for the knee and ankle pitch joints.
  • TD30-40 and TD40-52 harmonic drive actuators.
  • CANalyst-II USB-to-CAN interface used to communicate with the servomotors.

Connections

  • Servomotors are connected to the computer through the CANalyst-II CAN interface, which is connected over USB.
  • Knee motor is set to CAN ID 1 and ankle motor to CAN ID 2 for the one-leg benchmark.