We have developed a bipedal robot - High Torque Robotics

The robotics industry is one of the sectors with the greatest development potential in the future. Driven by advances in artificial intelligence (AI) technology, it also gains broader prospects for growth. As the most valuable and promising branch in the robotics field, bipedal robots have long been constrained by numerous bottlenecks awaiting breakthroughs, including those related to technology and cost.

Technically, the leg joints of bipedal robots pose the biggest challenge, covering aspects such as joint structure design and dynamic modeling. Cost-wise, the body built with mainstream joint motors currently available on the market is expensive, making it unaffordable for ordinary developers.

To address these issues, we have specifically developed a bipedal robot—π—that features a compact size, high performance, and a low price.

When designing the leg joints of the bipedal robot, we referenced the structure of human leg joints and designed each leg to have 5 degrees of freedom (DOF) (3 DOF at the hip joint + 1 DOF at the knee joint + 1 DOF at the ankle joint), resulting in a total of 10 DOF for both legs.

Schematic Diagram of Leg Joint Structure for Bipedal Robot π

To reduce R&D costs, we have independently developed the HTM-5046 compact joint module. It measures 50mm x 46mm, integrates a brushless driver and dual encoders, with a rated torque of 2Nm, a peak torque of 8Nm, a speed of 120RPM, and a weight of 280g.（Currently, this joint module is already in mass production and available for sale. You can copy the code to purchase it:【TaoBao】https://m.tb.cn/h.UBbYRHP?tk=lkfndJim7x3 CZ3457 Search on Taobao to open directly）

HTM-5046 Product Images

To further reduce the inertia of the lower leg, we have specifically designed an even smaller module—HTM-4538. It measures only 45mm x 38mm, and also integrates a brushless driver and dual encoders, with a rated torque of 1Nm, a peak torque of 5Nm, a speed of 120RPM, and a weight of just 150g.

HTM-4538 Product Images

In this way, the entire bipedal robot is built using a total of 8 HTM-5046 joint modules + 2 HTM-4538 joint modules.

Schematic Diagram of Joint Modules Used in Bipedal Robot π

Thanks to the compact design of the two joint modules, the total weight of this bipedal robot is only 4kg and its height is merely 45cm, making it currently the world's smallest high-performance brushless bipedal robot.

To enable more developers to have their own bipedal development platform, we plan to make this bipedal robot open-source and sell basic kits. Meanwhile, we also look forward to having more interested individuals join us in improving this open-source project.

Renderings of Bipedal Robot π

If you are interested in this bipedal robot project or the joint modules used in it, please follow our official WeChat account "Gaoqing Electromechanical" and send a private message with the keyword "Bipedal Robot Consultation" in the background to receive relevant materials and information.

In addition, our HTM-5046 joint module has been officially put into mass production and sold to the public. You can copy the code to purchase it:【Taobao】https://m.tb.cn/h.UBbYRHP?tk=lkfndJim7x3 CZ3457 Search on Taobao to open directly.

Creating New Possibilities in the Robotics Industry