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Operation | |||
Calibration | |||
== Contributing to BRUCE Wiki == | == Contributing to BRUCE Wiki == | ||
Revision as of 11:36, 17 December 2022
Welcome to BRUCE (Bipedal Robot Unit with Compliannce Enhanced) Wiki, where we update infomation on hardware and software of BRUCE.
About BRUCE Project
BRUCE is an open-platform project led by Westwood Robotics. It focuses on the development of a low-cost kid-size humanoid robot for research and education.
About BRUCE Robot
Hardware
BRUCE has a total height of 660 mm adapting an average human body proportion. It is composed of a torso, two 3-DoF arms, and two 5-DoF legs. Each arm of BRUCE has a ball shoulder joint and a single DoF elbow joint. Each leg of BRUCE has a spherical hip joint, a single DoF knee joint, and a single DoF ankle joint. Each foot has a line contact with the ground. To have better torque transparency and compliance to the unknown environment, proprioceptive actuation is equipped for each leg joint, using the Koala BEAR actuators. Moreover, BRUCE's legs are designed to have low inertia for performing highly dynamic motions. A 2-DoF parallel actuation configuration realized by a cable-driven differential pulley system is applied to the hip joint to reduce the mass and inertia of the femur link. Meanwhile, two pairs of 4-bar linkage mechanisms are used to relocate the ankle actuator to the femur link for the light weight of the tibia link. Finally, to ensure reliable ground contact information, a sensing foot is designed based on the working principle of an electronic switch.
BRUCE is fully untethered. All the electronics are directly mounted onto the torso for easy installation and better weight distribution. A mini PC with an Intel Core i5-7260U Dual-Core CPU at 2.2 GHz is utilized as the onboard computing resource. A 14.8 V 2200 mAh LiPo battery is used to power the whole system with a running time of approximately 20 minutes. For the sake of safety during operation, a wireless E-Stop built in-house is mounted onboard as well to cut the power in emergencies. In total, BRUCE has a net weight of around 4.8 kg.
Software
fds
Useful Links
Operation Calibration