Mechatronic Design of ARC Humanoid Robot Open Platform: First Fully 3D Printed Kid-Sized Robot

摘要

Although there are several popular and capable humanoid robot designs available in the kid-size range, they lack some important characteristics: affordability, being user-friendly, using a wide-angle camera, sufficient computational resources for advanced AI algorithms, and mechanical robustness and stability are the most important ones. Recent advances in 3D printer technology enables researchers to move from model to physical implementation relatively easy. Therefore, we introduce a novel fully 3D printed open platform humanoid robot design named ARC. In this paper, we discuss the mechanical structure and software architecture. We show the capabilities of the ARC design in a series of experimental evaluations.