Humanoid-universe.com

<t>@benjaminsanchez Thanks for laying this out, genuinely useful.

Starting in simulation (even a simplified physics sim of just the leg or the target gait) before touching real hardware is one of the more reliable ways to avoid destroying expensive parts while debugging balance and walking ...

<t>That's the official framing, at least - reality tends to lag a bit.

A minimum viable sensing suite for safe bipedal walking generally includes joint encoders, an IMU for orientation/angular velocity, and either force/torque sensing or accurate current-based torque estimation at the ankles ...

Genuine beginner question - Unitree's Dex3-1 dexterous hand packs around 33 pressure/tactile sensors per hand across the fingers and palm, capable of sensing pressure roughly in the 10g-2500g range - a useful reference point for what 'production tactile sensing' looks like right now.

<t>This is a great summary, thanks.

Vision-based grasp confidence estimation (predicting success before attempting a grasp) and tactile-based confirmation (confirming after contact) are complementary rather than competing - vision helps you choose a grasp, tactile tells you if it actually worked ...

<t>Genuine beginner question -

Vision-based grasp confidence estimation (predicting success before attempting a grasp) and tactile-based confirmation (confirming after contact) are complementary rather than competing - vision helps you choose a grasp, tactile tells you if it actually worked ...

<t>Yeah, this tracks with what I've read as well.

Jetson-class boards remain a common choice for onboard compute on hobbyist builds needing real vision or learned-policy inference, while a Raspberry Pi is often adequate for lower-level joint control and telemetry if the heavier compute is ...

<t>New to this, so forgive me if this is obvious -

Jetson-class boards remain a common choice for onboard compute on hobbyist builds needing real vision or learned-policy inference, while a Raspberry Pi is often adequate for lower-level joint control and telemetry if the heavier compute is ...

<t>@yuki71 This matches something I went through recently.

Group-buy arrangements for harder-to-source parts (small harmonic drives, precision bearings, custom PCBs) are a common way hobbyist communities work around the fact that specialty components are often only sold in industrial minimum ...

<t>Pretty much this. One thing to add:

The Berkeley Humanoid Lite stands about 1 meter tall and weighs roughly 16 kg, which is a genuinely reasonable target size for a first serious hobbyist build - big enough to be a real bipedal platform, small enough to not need industrial-scale actuators or a ...

<t>@deborah59 I dealt with almost this exact situation.

RSS (Robotics: Science and Systems), ICRA, and the IEEE-RAS Humanoids conference are commonly cited as the most directly relevant venues for someone specifically interested in legged locomotion and humanoid control research, as opposed to ...