Humanoid-universe.com

I dealt with almost this exact situation. Off-the-shelf RC servos are a reasonable starting point for a first small biped because they bundle motor, gearbox, and basic position control in one part, but they generally can't deliver the torque density or backdrivability needed to scale up to a larger, more capable build.

Here's the relevant bit as far as I understand it: 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 rather than buying finished modules. A recurring lesson from hobbyist build logs: thermal management gets ignored until an actuator overheats and damages its own mounting hardware, at which point everyone suddenly starts caring about airflow and duty-cycle limits.

Genuine beginner question - Motion capture for training or validating a DIY robot's gait is expensive at professional quality, so a lot of hobbyists substitute cheaper alternatives - multi-camera pose estimation software, IMU-based motion tracking suits, or simply hand-tuning gaits in simulation first before ever touching real hardware. A recurring lesson from hobbyist build logs: thermal management gets ignored until an actuator overheats and damages its own mounting hardware, at which point everyone suddenly starts caring about airflow and duty-cycle limits.

@ethan_fisc Yeah, this tracks with what I've read as well. 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 rather than buying finished modules. Kind of makes me think about how different this all looked even three years ago.