762 mm
Exact candidate floor-to-shell-top geometry.
25 DOF
Head, waist, arms, hands, hips, knees and ankles.
9.928 kg
Active tether-first planning mass, not measured. The separate onboard-envelope case is 11.394 kg and still uses a rejected battery envelope.
0
Fabrication, motion, safety or energization approvals.
Inspect the whole robot
Drag to orbit; scroll or pinch to zoom. This installed whole-robot state includes both serviceable seventeen-part custom hand mechanisms. Open the interactive open/closed gripper guide for both CAD states.
What exists now
Physical architecture
A recognizable head, articulated neck, torso, pelvis, two complete arms, two detailed rack-and-pinion grippers, two six-axis legs, ankles and feet, partitioned into 98 fabrication candidates.
Floating-base simulation
URDF and MJCF implement the same 25-axis schedule without anchoring the pelvis to the world, using provisional geometry, limits, mass and inertia.
Embodied-agent boundary
OpenAI may produce expiring structured behavior requests. Deterministic local software and independent hardware retain motion and permit decisions.
Native whole-body electrical
Nineteen KiCad sheets cover all 25 separately fed actuators, head HMI, pelvis IMU, eight foot sensors, tether-first energy and the isolated onboard-later path. ERC is 0 errors / 0 warnings for encoded connectivity only.
Eight simultaneous interfaces
Two routed six-layer four-channel carrier candidates implement five isolated RS-485 and three translated TTL channels. Independent layout, EMC, thermal and physical validation remain open.
Walking development
Suspended characterization, restrained standing, weight transfer, capture steps and tethered walking remain separate physical gates.
Direct engineering artifacts
- Physical-envelope STEP
- Kinematic-reference STEP
- Interactive GLB
- Editable CadQuery source
- Degree-of-freedom schedule
- Actuator allocation
- Interactive 19-sheet electrical guide
- Native KiCad project
- Interactive whole-body harness guide
- Installed-equipment register
- Serviceable joint-family CAD guide
- Whole-body transmission closure and successor assembly
- Joint-hardware successor manufacturing crosswalk
- Individual manufacturing-candidate files
- Fabrication sourcing and RFQ guide
- Boston fabrication execution route
- Interactive first physical-build cart
- G01 first manual fit article
- Actual-axis joint-hardware manufacturing guide
- Detailed bilateral gripper CAD and interactive states
- URDF
- MJCF
- Mass, COM and inertia budget
- Power and energy budget
- Thermal budget
- Compute, sensor and network budget
- Whole-robot candidate BOM
- Standing and walking architecture
- Conversational-agent architecture
- Build and electrification plan
HR-V0 control-only no-load fixture
Native connected ECAD
Five KiCad sheets define the isolated 24 V boundary, P1.21 eligibility chain, watchdog gate and fifteen-channel measurement fanout.
42 point-to-point rows
Every DUT endpoint is checked against the authoritative P1.21 connector schedule; deliberate test substitutions stay fixture-only.
Not authorized
All ten authorization prerequisites remain open. No connection, powered testing, motion or energization authority follows.
Open the interactive fixture guide / native KiCad project / point-to-point schedule.