Humanoid-universe.com

<t>I can speak to this a bit.

Whole-body control (WBC) formulates locomotion and manipulation as a single optimization problem across all joints simultaneously, respecting contact constraints and task priorities - it's more general than ZMP-only approaches but is computationally heavier and ...

<t>I'd push back on this a bit.

A lot of the manipulation shown in production demos still leans heavily on teleoperation, particularly for anything involving fine force control or novel objects - autonomous grasp success rates on genuinely unstructured, previously-unseen clutter are still well ...

<t>@amara.brown Here's the relevant bit as far as I understand it:

A lot of hobbyists underestimate how much of the real difficulty in a DIY humanoid build is software and tuning rather than mechanical assembly - getting a robot to physically stand up is a much smaller fraction of the total ...

Ran into exactly this myself. Joining an existing robotics community (FRC, university clubs, maker spaces) before going fully solo is a common and effective way to pick up practical fabrication and control skills faster than working entirely alone from tutorials.

<t>One nitpick -

Open-source humanoid projects matter less for out-competing the well-funded players and more for keeping the barrier to entry low enough that new ideas and new people can actually get into the field. The labor-substitution narrative gets simplified a lot in pitch decks; the more ...

<t>This matches what I've seen too.

Boston Dynamics' commercial electric Atlas switched fully from hydraulic to QDD-style electric actuation, ending up quieter and lighter with comparable or better dynamic performance than the old hydraulic platform. A lot of the per-joint cost in a modern ...

<t>@scott.andersson5 This matches something I went through recently.

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 ...

<t>This raises a question for me -

Tesla's Optimus Gen 2 reportedly carries roughly a 2.3 kWh pack and manages about two hours of dynamic work, while Unitree's H1 runs a smaller 0.864 kWh pack good for under four hours of largely static operation - a useful illustration of how battery size and ...

<t>Ran into exactly this myself.

A realistic hobbyist bill-of-materials for a small biped balloons fast once you add a real IMU, decent motor controllers, a reasonable battery/BMS setup, and enough compute for onboard control - the headline '$5k' budget assumes a fair amount of DIY fabrication ...

<t>@carlossanchez Respectfully, I think this undersells it a bit.

Companies like Figure, 1X, Apptronik, and Agility Robotics are reportedly pulling senior ROS, controls, and learning engineers directly out of warehouse-automation and industrial-robotics roles - a sign of real talent competition ...