WiscoHumanoids

UW Madison Humanoid Robotics Team
if you'd like to sponsor us, dm or email [email protected]

[Humanoid Scott @GoingBallistic5]

Good Luck to the Badger Bots!

[WiscoHumanoids @Wiscohumanoids]

@GoingBallistic5 Thank you so much for your help on our design review, Scott!

[Evan Liu @evan123liu]

Good progress our @Wiscohumanoids team!

[WiscoHumanoids @Wiscohumanoids]

If you want to know more about our club or have any questions, please comment, message, or follow us on X!

[WiscoHumanoids @Wiscohumanoids]

We're WiscoHumanoids, we just launched this year in January and we've already made a ton of progress to showcase in the UW-Madison yearly Engineering Expo!

Our club has three main groups—Mechanical, Electrical and Software:

[WiscoHumanoids @Wiscohumanoids]

Our software group has three primary teams: the manipulation team currently focuses on teaching a simpler robot to perform basic tasks; the ROS team is responsible for our full software architecture; and the locomotion team is training OpenSource robots to walk in simulation.

[WiscoHumanoids @Wiscohumanoids]

@nicks_robots Yup on that! First thing on arms to-do

[WiscoHumanoids @Wiscohumanoids]

V0 Draft of our humanoid’s skeleton minus the head 😁

[WiscoHumanoids @Wiscohumanoids]

@graftoverflow @Mark10957771 Yup thats the plan

[WiscoHumanoids @Wiscohumanoids]

@thelighthouse https://t.co/d90zDvsKpR

Pretty good video on sheet metal! To be 10/10, our calf sheet metal section is pretty sus and will have high stress at the bend points near the ankle, we’re going to swap it out for vertical plates + billet.

[WiscoHumanoids @Wiscohumanoids]

29 DOF, 4’5 currently. Likely going to add 2 neck DOFs to match the exact camera perspective of a human user collecting data with UMI.

2 Layer Compute Architecture
(Jetson Thor + Rockchip)
Ethercat communication
Hardware Sync’d Cameras (Planning for 2 wrist 2 head)

[WiscoHumanoids @Wiscohumanoids]

@Mark10957771 Around a month and a half. Lot slower than we’d like.

[WiscoHumanoids @Wiscohumanoids]

@sendcutsend @flrocketlab 👋

[WiscoHumanoids @Wiscohumanoids]

Locked in collecting data @evan123liu

Goat

T-Minus 8 Days

[WiscoHumanoids @Wiscohumanoids]

Day 1:

Drafted up PDB Schematic(Temp pin headers for power rail) (By Malcolm Mohr)

Grinding through the CAD for the rest of the humanoid

Revising our vision architecture to hardware sync our cameras

Redesigning wrist to be a spherical wrist to minimize retargeting for UMI

[WiscoHumanoids @Wiscohumanoids]

Day 0 of Spring Break Sprint to finish our Humanoid CAD

Sprint starts tomorrow

Current Mock-Up Design by Owen Diesenhaus

[WiscoHumanoids @Wiscohumanoids]

@thelighthouse Architecture wise, definitely the G1. End goal is to see how far we can push full body athleticism/dexterous manipulation for the entire humanoid and see how close we can get to industry SOTA.

[WiscoHumanoids @Wiscohumanoids]

First look at the initial draft of the legs that will carry the nation's first student-led, full SOTA humanoid robot! Lots of improvements under way.

Architecture:
FAR Hips
RSU Linkage for ankles