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NanoLoong Bipedal

A 60 cm tall bipedal robot combining Pixar-style and Disney BDX designs, using brushless motors and reinforcement learning.

  • Humanoid
  • Open source
  • Works with AI
  • 3D model (URDF)
  • 3D printable

Suggested by Robotheca, created by @loongOpen (opens in a new tab), from github.com/loongOpen/NanoLoong-Bipedal (opens in a new tab). Pinned to commit 446e507 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
Apache-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 (1 file marked executable, 59 scripts, 37 programs or installers, 6 firmware images)

Photo and 3D model

NanoLoong Bipedal, photo from its repository
Photo:@loongOpen (opens in a new tab)Apache-2.0source file (opens in a new tab)
Try it in the browser

3D preview converted from github.com/loongOpen/NanoLoong-Bipedal at 446e507, under Apache-2.0. View the original files from GitHub (9.1 MB) (opens in a new tab)

Height
60 cm

What it can do

Written by Robotheca from the project's documents.

  • Walks on two legs using reinforcement learning policies
  • Performs dynamic bipedal gaits similar to Disney BDX robot
  • Supports remote control via wireless module
  • Can install Xiaozhi AI module for large language model functions
  • Runs reinforcement learning algorithms onboard for real-time gait control

Works with AI

Found by Robotheca in the project's files at commit 446e507, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Review CAD design and 3D printable parts
  2. 2Assemble mechanical structure
  3. 3Install electronics and PCB
  4. 4Set up reinforcement learning policies
  5. 5Integrate AI modules (optional)

The guide appears here as you scroll.

Guide by @loongOpen (README.md), under Apache-2.0.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Brushless motors for leg joints
  • Odroid C4 as onboard computer
  • ESP32-S3 development board for remote control interface
  • Wireless communication module for remote operation
  • Custom power distribution PCBs (omnibothub-power-one, omnibothub-power-two, omnibothub-power-four)
  • Debug and core control PCBs (omnibothub-debug, omnibothub-core)
  • CAN bus for motor control
  • LVGL-based display for remote control unit

Connections

  • Brushless motors connected via CAN bus to core control PCB
  • Odroid C4 communicates with core control PCB
  • ESP32-S3 remote control unit connects to display and wireless module
  • Power distribution PCBs provide regulated power to motors and electronics
  • Debug PCB used for development and testing