**Humanoid robot**
*2025- (Ubuntu)*

![](./0_base.png width=50%)

I always wanted to build robots, and I dreamt about building humanoid ones. 
For a long time those dreams were unreachable due to high costs, my lack of 
experience in the field of robotics, and lack of prospects for such project
to succeed. Recently things have changed significantly with advent of 
embodied AI. Suddenly idea of functional humanoid robots became tangible again.

In June 2025 [Berkeley Humanoid Robot Lite](https://berkeley-humanoid-lite.gitbook.io/docs/) 
project was released. This was exactly what I was waiting for. It was 
first open sourced humanoid robot project. It has full CADs and its BOM is in good 
price range. I've decided that while it is result of academic work, and thus should
be taken with a grain of salt, it is best way to build my first humanoid
and learn everything I can along the way.

Soon after [Roboto Origin](https://github.com/Roboparty/roboto_origin) was 
released as open source too. If I would make a choice today, I would probably 
pick it up instead. It is way more mature solution, but I expect its BOM to be 
bigger than BHL too, as it has a lot of CNC milled and otherwise metal parts.

Basic goal of this project is to build humanoid robot capable of maintaining
balance and walking. At first I plan to teleoperate it, but in parallel
I want to train AI model performing basic motor functions. Ideally later I would 
integrate it with open claw to make it responsible for interaction with the user. 

As its my entry into field of robotics I've decided to document whole process 
from start to finish in as much detail as possible. This includes 
all mistakes I will make along the way. I hope that by documenting all that,
I will help others to see that "you can just build things".

Initial mechanical assembly:

- Introduction:
  - Tools
  - Parts
- Step 1 - Gearmotors mechanical assembly:
  - [Precision issues](./../../posts/2026_02_27_Precision_issues/2026_02_27_Precision_issues.html)
  - [Hot inserting](./../../posts/2026_02_28_Hot_inserting/2026_02_28_Hot_inserting.html)
  - [5010 motor housing](./../../posts/2026_03_07_5010_Motor_housing_assembly/2026_03_07_5010_Motor_housing_assembly.html)
  - [M6C12 motor housing](./../../posts/2026_03_13_M6C12_Motor_housing_assembly/2026_03_13_M6C12_Motor_housing_assembly.html)
  - [M6C12 geartrain](./../../posts/2026_03_20_M6C12_Geartrain_assembly/2026_03_20_M6C12_Geartrain_assembly.html)
  - [5010 geartrain](./../../posts/2026_03_22_5010_Geartrain_assembly/2026_03_22_5010_Geartrain_assembly.html)
  - Gearmotors:
    - [Shoulder pitch/flexion (motors M1 & M2)](./../../posts/2026_03_28_M1_M2_Shoulder_pitch_flexion/2026_03_28_M1_M2_Shoulder_pitch_flexion.html)
    - Leg yaw/abduction (motors M3 & M7)
    - Leg Roll / Rotation (motors M4 & M8)
    - Leg Pitch / Flexion (motors M5 & M9)
    - Knee / Lower leg Pitch / Flexion (motors M6 & M10)
  - Gearmotors (requiring disassembly):
    - Shoulder Yaw / Abducion (motors M11 & M15)
    - Elbow Pitch / Flexion (motors M13 & M17)
  - Group 2 assembly:
  - Group (final assembly):
    - Ankle Pitch / Flexion (motors M19 & M21) (differs from above only with gearbox housing part being integrated into lower leg shank, AND cover having built in stopper!)
- Step 2 - Actuators:
  - Rotary encoder and control board wiring
  - Actuators assembly
  - Calibration
- Step 3 - Final assembly
  - Actuators mechanical assembly (?)
  - Torso
    - PC
    - IMU
    - CAN boxes
    - USB extenders
    - Battery pack
    - PC power delivery (power supply adapter)
    - Wiring
  - Legs and arms assembly
  - Electrical engineering

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