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Project Introduction: This repository serves as the core open-source hardware library for the ATOM01 series of humanoid robots. We are committed to lowering the barrier to entry for bipedal robot development by providing a complete solution encompassing mechanical design, PCB schematics, and firmware.
The project is managed hierarchically based on version iterations, containing two primary development branches: V1.0 and V2.0.
| Feature | V1.0 (Legacy) | V2.0 (Current / Recommended) |
|---|---|---|
| Mechanical Design | Original Design | Reinforced Structure |
| Hardware Architecture | Discrete Modules | Highly Integrated Single Board |
| Core Improvements | - | Waist Limiting, Pin Calibration, Backplate Switch |
| Use Case | Legacy User Maintenance | New User Development, Mass Production |
Positioning: Original version containing the early mechanical structure and discrete circuit board design.
- Core Components:
- Mechanical: Basic bipedal structure design, including early assembly documentation and URDF files.
- Hardware: Separate Power and Communication boards (Roboto_Power, Roboto_Usb2Can).
- Target Audience: Limited to legacy users still utilizing the first-generation hardware for reference.
Positioning: Brand new optimized version, comprehensively restructured for usability, stability, and integration.
- 🚀 Hardware System: Single Board Integration
- Optimization: Integrated modules such as power management and communication interfaces into a single core circuit board.
- Advantage: Significantly simplifies internal cabling, reduces connector failure points, and enhances system stability and EMC (Electromagnetic Compatibility).
- ⚙️ Mechanical System: Structural Reinforcement & Calibration Upgrade
- Waist Limiting: Added a mechanical limit switch to ensure absolute safety for waist rotation angles.
- Calibration Method: Introduced limit pin calibration process, replacing the generic calibration method of the old version.
- Arm Optimization: Corrected issues present in the arm components of the previous version.
- Backplate Switch: Added a physical main control board switch to the robot's backplate.
- Target Audience: All new users, developers, and users looking to experience the latest features.
Please enter the corresponding directory based on your hardware version to obtain detailed documentation:
. V2.0 Users (Recommended):
- Mechanical Drawings: Enter V2.0/roboto_origin_mechanic/ to view assembly drawings and STL files.
- PCB Files: Enter V2.0/roboto_origin_pcb/ to obtain Gerber files and schematics.
. V1.0 Users:
- Mechanical Drawings: Enter V1.0/atom01_mechanic/.
- PCB Files: Enter V1.0/atom01_pcb/.
Note: The mechanical structure and hardware interfaces of V2.0 are not compatible with V1.0. Please confirm the version before assembly or purchasing materials.