762 mm
Exact neutral-pose floor-to-shell-top geometry.
25
Named head, waist, arm, hand, hip, knee, and ankle axes.
10
Dimensioned joint-module families spanning all 25 axes.
0
Fabrication, motion, safety, or energization approvals.
Orbit the native body architecture
Drag to orbit; scroll or pinch to zoom. Sky blue is shell envelope, dark blue is load-path envelope, gold is joint/hand hardware, and red rods are reference axes. Transparent objects reserve electronics, sensors, restraint, and joint datum space. The downloadable STEP embeds the exact SHA-bound actuator B-Reps; the GLB uses dimension-matched simplified actuator bodies so the web model remains practical to load.
The dimensions come from the specification
What this pass proves—and what it does not
Native geometry exists
STEP and GLB are generated from a versioned CadQuery source. The STEP reimports with vertices exactly at Z=0 and Z=762 mm.
Kinematic architecture exists
All 25 candidate axes have coordinates, directions, regions, and provisional ranges in a machine-readable schedule.
Preferred arm envelope met
The revised bilateral shoulder and hand geometry gives a 360 mm nominal reach and 900 mm fingertip span, meeting both preferred targets. Tolerance and physical-sweep validation remain open.
Mass configurations are now explicit
The active tether-first model is 9.928 kg. The 11.394 kg packaging case includes 1.357 kg for a rejected direct-source pack envelope, cassette and unselected protection allowance. Neither configuration is an as-built mass property.
Controlled body datums
| Datum | Z above floor | Role |
|---|---|---|
| Ankle roll / pitch | 35 / 55 mm | 20 mm serial-axis separation inside the ankle housing |
| Knee pitch | 210 mm | 155 mm above ankle pitch |
| Hip pitch / roll / yaw | 370 / 390 / 410 mm | 20 mm serial-axis separation inside the hip housing |
| Waist yaw | 425 mm | Upper-body rotation datum |
| Shoulder pitch | 590 mm | Upper-arm datum |
| Neck pan | 650 mm | Head pan datum |
| Shell top | 762 mm | Exact nominal standing height |
Next engineering conversions
Joints
Convert the ten visible module-family candidates into released shafts, selected bearings, verified fits, retained fasteners, stops, encoders, and serviceable housings.
Structure and covers
Convert solid visual envelopes into materialized frames and tool-removable covers with thickness, splits, edges, vents, access, and retention.
Harness and power
Route bend-controlled cables and select the actuator rail, protection, regeneration handling, tether, and eventual onboard energy system.
Evidence
Close mass/COM/inertia, collision, gait loads, thermal behavior, stopping, fall restraint, DFM, tolerances, FAI, physical testing, and qualified review.
The P0.1 engineering package is whole-body
Floating-base dynamics
URDF and MJCF cover all 25 commanded axes with an unanchored base and provisional masses, inertias, geometry and limits.
Mass and energy
9.928 kg active tether-first planning mass with 0.072 kg planning margin to the authoritative 10 kg hard limit; the 8 kg target remains missed. The separate 11.394 kg onboard-envelope model exceeds the hard limit, retains a rejected pack envelope and is not an active power configuration. Physical mass, COM, inertia and energy selection remain open.
Embodied-agent boundary
OpenAI produces expiring high-level JSON requests only. Deterministic local software and independent hardware retain every motion and permit decision.
Walking path
Suspended characterization, restrained standing, weight transfer, capture steps and tethered walking are separate development gates.
Every body part now has a real quotation path
98 / 98
controlled parts bound to a shop route and exact upload file hash.
5
nonempty quote batches separate flat structural parts, machined parts, mechanisms, rods and fit articles.
7
verified Boston-area and online fabrication routes.
0
material, drawing, order or fabrication approvals.
Open the interactive sourcing/RFQ guide · 98-part route register · stock mismatch screen.
The first physical handoff is ready
9 parts
one BPL-envelope left-gripper fit plate at 1:1 scale.
98 STLs
one complete makerspace fit-check bundle with assembly and inspection travelers.
8 routes
current Boston-area maker and commercial candidates.
0 built
BPL is temporarily unavailable; no quote or physical result exists.
The first-build cart is intentionally small
$58.77
two reusable one-actuator bench candidates; human approval required.
11 parts
one assemblable manual G01 fit article plus clearance coupon.
8 quotes
cable and connector coupon requests.
0 ordered
full actuators, power boards, batteries and production harnesses remain held.
The first hand now has an actually assemblable manual fit article
11 parts
one retained frame, two guide proxies, two fused moving fingers and one manual pinion.
8–34 mm
measurable closed/open pad-gap screen.
0 built
printer preflight, hardware, measurements and physical cycling remain open.
Derived fixture only
measurements must return to the authoritative whole-body G01 design.
The 98 body parts were not the complete manufacturing universe
142 / 142
actual-axis joint-hardware items now classified.
64
shaft and interface-carrier refinement STEP/SVG files.
39
catalogue bearing envelopes blocked from custom fabrication.
39 / 39
pulley and coupling predecessor placeholders now mapped to named successors in the transmission-closure package.
Open the actual-axis joint-hardware guide · 142-item register · Inspect the successor transmissions.
The entire robot now has a bed-normalized unpowered fit-check kit
98
Source-bound 1:1 STLs at Z=0.
12
Head-to-feet module ZIP bundles.
0
Parts printed or physically accepted.
No released G-code
Printer, material, supports and slicer profile still require physical selection.
Open the full-scale fit-check guide · Part and transform register · Candidate plate register.
The whole-body controller now has a real unflashed STM32 target
25
axis torque bits forced inactive
8
UART clocks disabled and direction pins low
Reproducible host and target builds
The freestanding Cortex-M7 ELF/BIN and compiled vector evidence reproduce byte-for-byte.
Flash and HIL remain open
The binary has never run on hardware; no connection or powered-work authority follows.
Walking power now preserves all eight feed domains
25
axis-bound paired bidirectional branches.
8
electrically separate one-bus board instances.
ERC / DRC 0 / 0
Exact YWP land pattern and routed ten-layer board candidate.
8 open
bus-domain brake/dump circuits still require measured sizing.
Open the interactive walking-power successor. The earlier five-board shared-input grouping is rejected; production stackup, DFM, thermal, dump-energy and powered-motion authority remain open.
The whole-body power hierarchy now exposes its real limits
5 V
logic-only path with every actuator connection physically absent.
8 + 25
electrically separate bus-source feeds and individual actuator branches.
46.678 > 41.7 A
candidate cap sum exceeds the source endpoint; measured demand or a new source architecture is required.
0
released fuse values or hot conductor ratings.
Open the interactive protection/conductor guide. Regeneration, coordination, physical tests and all connection authority remain open.
The whole robot now has one candidate PE/reference drawing
7
controlled grounding/reference domains
10
candidate bond records
0
installed or measured bonds
Open the interactive grounding/reference guide. The topology is explicit; approval and every physical result remain open.
The complete head now has physical links
8
located head HMI items
11
routed physical links
2
correct 22-to-15 camera links
0
built or powered links
Open the interactive head HMI harness guide. The selected architecture is a candidate, not a procurement or energization release.
The grounding drawing now maps to physical candidate hardware
9
hardware candidate/selection records
13
whole-robot bond zones
14
joint-bypass obligations
0
installed or measured bonds
Open the interactive protective-bonding implementation guide. Exact sizing, installation, tests and authority remain open.
The target now has a no-actuator bring-up path
5
exact JDBG1 debug contacts
10
controlled release gates
12
planned physical measurements
0
flashes or HIL executions
Open the interactive STM32 target bring-up guide. Actuator carriers remain physically disconnected and all authority remains withheld.
The ten reduced leg axes now use four concrete belt-module candidates
10 axes
Hip pitch/roll, knee pitch and ankle pitch/roll are allocated bilaterally.
4 modules
A dedicated 2.5:1 knee module replaces the previous 2:1 knee drive; exact tooth counts, belt lengths and solved centers are encoded.
Purchasable families
MISUMI P-bore-plus-tap pulleys and EV5GT belts plus ROBOTIS X540/X430 horn families are named.
Capacity remains open
Material, fits, fasteners, tension, tooth loads, guards, fatigue and physical proof are unresolved.
Open the leg-drivetrain guide · axis allocation · center geometry.
The reduced leg drives now have real adapter parts
3 + 2
Motor-flange and output-shaft adapter families.
10 / 10
Reduced leg axes have a complete nominal allocation.
Manufacturer-bound
Exact HN12/HN13 CAD and published bolt circles control the motor interface.
Not released
Fits, material, tolerances, fasteners, capacity and physical inspection remain open.
The complete humanoid now carries four physical 4:1 compound hip drives
4 axes
Both hip pitch and roll axes use installed two-stage drive geometry.
2 x 2:1
Catalog-backed 16:32 stages avoid a single oversized 64-tooth pulley.
Editable whole-body CAD
Carrier plates, intermediate shafts, bearings, belts, guards, actuators and output interfaces are visible in STEP and GLB.
Engineering holds remain
Capacity, efficiency, reflected inertia, thermal, tension, fasteners, motion sweep and physical proof are open.
Open the interactive hip-drive guide · whole-body STEP · axis register.
The product-specific leg drives and adapters now occupy the complete humanoid
10 / 10
Reduced axes have exact candidate pulleys, belts, horns and nominal adapter solids.
45 pairs
Zero nominal inter-drive common-volume interference.
External service planes
Pitch drives sit outboard; roll drives sit behind their bearing stacks.
Still preliminary
Material, fits, fasteners, capacity, motion sweep, covers, cables, tolerances and physical proof remain open.
The transmission placeholders now have physical successors
39 / 39
predecessor pulley and coupler placeholders are dispositioned.
4 + 9
shoulder belt drives and direct-output adapter axes are installed.
Whole robot
A successor STEP and interactive GLB carry the transmission hardware on the complete humanoid.
Not released
Products, fits, retention, capacity, DFM, FAI and physical tests remain open.
The 25 moving power feeds now have physical fixed-transition CAD
25
dimensioned nominal placements
9
printable fit-coupon openings
0
received connector fit checks
Open the interactive bracket, coupon and whole-body placement guide. The diagnostic coupon now provides a controlled first physical fit test; connector cutout, production material, clamp, attachment, tolerance and validation remain open.
All eight actuator buses now have an explicit reference path
25 / 25
axis feeds bind moving cable, fixed transition and restrained pigtail candidates.
8 / 8
buses return their signal reference to the proposed pelvis star without a daisy ground.
5 + 3
five isolated RS-485 channels and three non-isolated TTL channels.
Physical validation remains open
Common-mode, TTL margin, regeneration, open-return faults, crimp and thermal behavior are untested.
Open the interactive actuator cable-kit guide. It defines the proposed topology but grants no procurement, crimping, connection or powered-work authority.
The complete actuator transition has a coupon path
25
fixed-side transition candidates share one controlled architecture.
11
coupon specimen families cover both crimps, panel retention and flex isolation.
25
axis routes awaiting measured pull-string cut lengths.
0
built coupons, executed tests or production cut lengths.
Open the interactive coupon and route-measurement guide. Direct CF130-to-JST crimping is rejected; do not cut production cable from geometric planning values.
Seventeen inter-axis data links now have a physical adaptation candidate
17 / 17
inter-axis links map to exact X4P/X3P cable-family SKUs and cavity actions.
14 + 3
RS-485 and TTL link candidates.
34
factory GND/VDD conductors removed completely; upstream power cavities remain empty.
Unbuilt adaptation
Extraction, destination power-contact insertion, routing, retention, no-backfeed and communication tests remain unexecuted.
Open the interactive inter-axis data-adapter guide. The separate carrier-first-axis package now controls the eight upstream interfaces; physical evidence and all work authority remain open.
Eight carrier leads now have exact contact maps
8 / 8
carrier-to-first-axis interfaces defined.
37
controlled contact-map rows.
5 + 3
unique RS field-reference legs and intentionally empty TTL reference cavities.
Crimp validation open
The PA contact ranges include both planning conductor sizes; received insulation O.D., tooling, pull strength and dynamic electrical tests remain open.
Open the interactive carrier-to-first-axis guide. It defines the boundary without granting physical work or energization authority.
The whole robot now has a candidate SRS
24
open whole-robot hazards
12
safety/control function records
8
stopping-time intervals to measure
0
validated PL claims or physical safety tests
Open the interactive whole-body SRS. Candidate PLr d / Category 3 allocations remain unapproved; motion and energization remain prohibited.
The path to first power is now explicit
12
objective release gates
8
staged power states; motion excluded
0
executed physical gates
0
qualified signoffs
Open the interactive first-energization readiness guide. It is a controlled plan, not permission to connect or energize hardware.
The current policy now reaches every actuator cable
25 / 25
individual power pairs are bound to one axis current policy and one routed planning length.
46.678 A
candidate internal-limit sum; not normal demand or a source rating.
71.88 A
published momentary stall-endpoint sum retained only as a separate fault boundary.
Physical selections remain open
RMS demand, wire construction, branch protection, voltage drop, temperature and regeneration still require evidence.
Open the harness/current-policy guide · 25-axis binding · eight-bus boundary.
Every joint now has a current ceiling
25 / 25
Axes have explicit candidate Current Limit values.
2.5:1
The knee ratio is corrected so its static endpoint screen fits below 3 A.
46.7 A
Arithmetic sum of all eight bus caps; not a normal-demand or supply rating.
Physical proof remains open
External branch current, connector temperature, protection coordination, continuous torque and gait duty are unvalidated.
Open the current/torque guide · 25-axis register · bus budget.
The actuator buses now have routed physical carrier candidates
86
Sourced parts across five isolated RS-485 and three translated TTL application circuits.
2
Native 82 × 42 mm six-layer KiCad routed candidates sized to the torso tray.
ERC 0 / 0
The ten-sheet carrier schematic hierarchy parses with no ERC errors or warnings.
DRC 0 / 0
Both boards have zero DRC violations and zero unconnected pads. Machine files remain non-released candidates.
Every actuator now has a routed protected branch slot
25
axis-bound commissioning branches across five distributed board instances.
5
assembly-DNP spare channels remain visibly unpopulated.
ERC 0 / 0
Eight editable, connected native schematic sheets.
DRC 0 / 0
Routed 124 × 45 mm candidate with zero unconnected pads. Stackup and thermal proof remain open.
The robot now has a DRC-clean deterministic motion-controller candidate
8
physical UART groups bound from STM32H743 package pins to the two carrier boards.
82 × 42
millimetre six-layer native KiCad controller candidate.
ERC 0/0 · DRC 0
Zero unconnected items; encoded board-rule checks pass.
Zero safety credit
The deterministic controller never replaces the hardwired safety chain.
Every physical frame, cover, and gripper-mechanism part now has its own file
98
Individual native STEP and SVG drawing-view exports.
Process-specific derivatives
Planar 2.5D candidates have DXF profiles; removable printed covers have STL meshes.
Controlled routes
Material/cut, process and inspection registers bind every part to its source geometry.
Still preliminary
Released drawings, tolerances, exact materials, DFM, FAI and physical proof remain open.
Open the individual manufacturing-file guide · Part-file register · Material/cut list.
Ten physical joint families cover all 25 axes
10
Reusable native joint-family assemblies.
25 / 25
Every whole-body axis maps to one family.
Serviceable stacks
Shafts, bearings, truss carriers, retainers, fasteners, actuator B-Reps, transmissions and encoder carriers are visible and registered.
Still preliminary
Exact fits, products, capacity, DFM, FAI and physical proof remain open.
Every joint carrier now has located fasteners
156
M3/M4/M5 screw candidates occupy every carrier hole.
39
four-hole carrier plates are populated across all 25 axes.
0.554 kg
generic-steel planning screen; received hardware mass remains open.
No joint release
Torque, preload, locking, tapped-side material, access, strength and fatigue remain unresolved.
Explode the robot into 12 real modules
12 + 12
Fabrication STEP and integration-reference STEP exports cover every body module.
98
Fabrication parts, including both complete gripper mechanisms, are deterministically owned by the module exports.
Actual whole-body sources
Joint, hand, shell and equipment geometry comes from the same generators as the integrated robot.
Still preliminary
Explosion is a service/refinement view; drawings, fasteners, fits, tolerances and physical proof remain open.
Both wrists now terminate in actual gripper mechanisms
20° involute
Module-0.5 pinion and matching rack geometry replace rectangular placeholder teeth.
8–34 mm
CAD-derived pad opening over 26 mm coupled travel.
Coupled installed states
The OPEN assembly moves both racks and rotates the pinion 148.969 degrees on the recognizable whole robot.
Physical proof remains open
Manufactured profile, fits, materials, horn adapter, calibration, pinch tests, endurance, DFM and FAI are unresolved.
Build the whole robot in twelve controlled module kits
12
Dependency-ordered body modules.
98 + 25
Fabricated parts and actuated axes bound to the traveler.
156 + 64
Located joint screws and installed equipment records.
Unpowered traveler only
Materials, tolerances, exact hardware, torque and physical inspection remain open.
The power and data paths now reach every joint
12 located corridors
Six actuator-power and six data paths include separate moving-loop reservations through the neck, both arms and both legs.
25 actuator drops
Every whole-body axis is assigned to one of eight protected segment candidates and one explicit actuator connector boundary.
Both interface ends pinned
Primary sources close the actuator pins, eight MCU channels, interface-device pins, and exact data-only field connector candidates.
Harness is not released
Assembled cables, branch protection, conductor sizing, flex life, termination, EMC and physical tests remain open.
Open the interactive harness guide, or inspect the eight branch assemblies, 25 drops, and 33 connector boundaries.
The whole robot now has a tether-first native electrical architecture
19 native sheets
One hierarchy page and eighteen populated child sheets cover energy, safety, compute, every actuator segment, head HMI, pelvis IMU, both feet and the isolated onboard-later path.
25 separate feeds
Every actuator pin-2 VDD now has its own unresolved protection/telemetry boundary; the multidrop harness carries data and reference only.
12 V + three 9 V rails
The rejected direct 14.8 V path is gone. XH/XM use the controlled tether rail while each XC330 segment has a regulated 9 V candidate.
ERC: 0 / 0
KiCad validates encoded connectivity only. Protection values, physical energy/safety terminals, stopping behavior and validation remain open.
Open the interactive 19-sheet electrical guide, inspect the eight-channel pin map, or download the KiCad project, terminal schedule, net schedule, and complete ERC report.
Every actuator now has a protocol-compatible bus
19 RS-485 axes
Left leg, right leg, left proximal arm, right proximal arm, and waist are five independently identified RS-485 segments.
6 TTL axes
Left wrist/gripper, right wrist/gripper, and head pan/tilt are three protected TTL half-duplex segments.
Both ends pinned
Primary sources bind the actuator pins, eight STM32 channels, interface-device pins, and exact data-only field connectors.
Harness remains preliminary
PCB layout/passives, assembled cables, branch protection, sizing, termination and physical tests remain selection work.
The complete robot now has one interface atlas
12
Head, neck, torso, pelvis, bilateral arms, functional hands, legs and feet have controlled module records.
25 / 25
Every axis has exactly one owning module and a dimensioned candidate mount family.
9.928 kg
Module masses reconcile to the active tether-first planning model.
0
Released manufacturing drawings or fabrication approvals; P0.1 remains preliminary.
System artifacts
URDF · MJCF · Onboard-envelope mass/COM/inertia · Tether-first mass/COM/inertia · Mass configurations · Mass reconciliation · Mass item register · Lightweight decisions · Power/energy · Thermal · Compute/sensors/network · Actuator bus topology · All-axis bus binding · Electrical integration · Energy and safety spine · Cost · Whole-robot BOM · Hands · Walking · OpenAI/local-control boundary · Action schema · Build/electrification plan · Fabrication-candidate STEP · Part register · Service panels · Harness routes · Interactive physical harness
Inspect the modular frame, covers, and harness routes
Dark blue is the candidate metal frame, sky and mid blue are separately removable covers, gold is the uncredited restraint bridge, orange reserves actuator-power routing, and cyan reserves data and low-voltage routing. These are dimensioned architecture parts and corridors, not released manufacturing drawings or selected cables.
Download the engineering artifacts
Physical-envelope STEP · Kinematic-reference STEP · Interactive GLB · Editable CadQuery source · Joint-axis schedule · Joint-module families · All-axis module binding · Vendor source register · Per-axis actuator transforms · Actuator allocation · Asimov 1 matrix · Component schedule · Geometry checks · Open holds
Every axis now has a load screen
25 / 25
Axes tied to the current URDF mass tree and actuator/transmission allocation.
Lighter distal joints
XC330 wrists and reduced XM430 ankles remove distal mass while retaining the current static endpoint screen.
Knees corrected
The whole-body candidate now uses dedicated 2.5:1 knee reductions so a sub-3 A current policy can meet the static development screen. Continuous gait and belt capacity remain open.
Stall is not continuous
Published stall torque is shown only as a momentary endpoint. It grants no motion authority.
Stand, transfer, lift, and step in the actual kinematic model
10 complete articulated robots are shown from neutral stand through mirrored right- and left-leg lift and capture-step candidates. Green slabs identify the modeled support region. These are pose references—not approved commands or evidence that the robot can balance.
| Pose | Stage | Support | Primary COM margin | Swing clearance | Forward placement |
|---|---|---|---|---|---|
| Neutral double support | S2 | DOUBLE | 44.8 mm | 0.0 mm | 0.0 mm |
| Crouched double support | S2 | DOUBLE | 47.2 mm | 0.0 mm | 0.0 mm |
| Left weight transfer | S3 | DOUBLE | 22.3 mm | 0.0 mm | 0.0 mm |
| Right foot lift | S4 | L SINGLE | 22.4 mm | 6.8 mm | 1.0 mm |
| Right capture-step candidate | S5 | L SINGLE | 22.7 mm | 17.2 mm | 40.7 mm |
| Right 40 mm touchdown | S5 | DOUBLE | 64.8 mm | 0.0 mm | 40.0 mm |
| Right weight transfer | S3 | DOUBLE | 23.5 mm | 0.0 mm | 0.0 mm |
| Left foot lift | S4 | R SINGLE | 23.6 mm | 6.8 mm | 1.0 mm |
| Left capture-step candidate | S5 | R SINGLE | 23.9 mm | 17.2 mm | 40.7 mm |
| Left 40 mm touchdown | S5 | DOUBLE | 64.8 mm | 0.0 mm | 40.0 mm |
Whole-body pose clearances
Neutral double support
8.5 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Crouched double support
8.5 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Left weight transfer
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Right foot lift
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Right capture-step candidate
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Right 40 mm touchdown
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Right weight transfer
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Left foot lift
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Left capture-step candidate
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
Left 40 mm touchdown
10.0 mm
Minimum nominal nonadjacent-link clearance; 0 common-volume interferences.
All checked poses have zero common-volume interference. Clearances below 5.0 mm remain packaging holds because covers, wiring, tolerance and tracking error are not included. Read the collision model · Pair register · Named exclusions
Legacy transmission envelopes now point to real successors
39 / 39
old pulley/coupler records are mapped and superseded.
28 + 9 + 2
catalogue pulley positions, direct-adapter axes and detailed hands.
0
unmapped or still-authoritative predecessors.
Release remains open
No successor is selected for procurement or released for fabrication.
The controller now has a buildable logic-power fixture
8
exact or controlled candidate line items
2
mapped power contacts
0
built cables or powered tests
Open the interactive logic-power kit guide. Setpoints, grounding and connection remain unreleased.
The programming path now has a native adapter board
32 x 20
millimetre native two-layer KiCad adapter.
ERC 0/0 · DRC 0
Exact STDC14-to-JDBG1 connectivity and routed board rules pass.
Physical closure open
The board and cable are unbuilt; wire selection, crimping, inspection and target supply remain open.
Scrub the first complete timed steps
The active tether-first model now has bilateral 50 Hz minimum-jerk sequences from neutral stand through a grounded 40 mm touchdown. Open the interactive whole-body walking-sequence guide. Simulator data is not a hardware command or motion authority.
The whole body now executes in MuJoCo
25
torque/force-controlled axes in an executed physics model.
35
named nested-interface contact exclusions.
Ideal fixture
The six-axis numerical gantry hides free-balance and restraint requirements.
Open the interactive dynamics evidence guide. No physical motion or walking authority follows.
The gait now has a whole-body torque-demand envelope
1.78×
Worst inverse-dynamics demand relative to the current-limited linear endpoint.
4
Rotary axes with a candidate endpoint gap.
Three demand cases
Contact-enabled, open-chain and gravity-only loads are kept separate.
Open the interactive whole-body torque-demand guide. These are design diagnostics, not continuous ratings or walking authority.
The preregistered 4:1 hip successor fails the bounded gait screen
53.70%
Worst rotary saturation after inverse feedforward; threshold 10%. The four revised hip axes pass, while unchanged knee and ankle saturation causes the overall failure.
4:1
Bilateral hip pitch/roll sizing scenario; physical transmission still required and this failed run does not authorize its design release.
No walking approval
Added inertia, backlash, heat, balance and hardware correlation remain open.
A physically routed power architecture for all 25 axes
25
explicit protected conductor pairs
6 / 6
multi-core trunk diameter screens pass
6
local distribution nodes across the whole body
6 / 6
dimensioned tangent route-guide radius screens pass
Open the interactive distributed-power harness guide. Guarding, full-pose collision, thermal and physical validation remain open.
The former whole-limb route is retained—and rejected for motion
6 / 6
neutral radius calculations reproduce
12
exact tangent guides retained
0
continuous paths eligible across moving joints
0
rigid guards allowed to span a joint
Open the retained neutral-envelope guide. The articulated-power-harness section contains the current successor.
The tether power path now has physical hardware and locations
External interruption
RSP-500-12, PNOZ s4 and two LC1D40ABD contactors are located in a 1418N4C6 external-panel candidate—not inside the robot.
Mirror-contact EDM
Each contactor's 21-22 mirror-certified NC auxiliary is in the monitored reset chain. This corrects the former candidate mismatch but does not establish an achieved safety level.
Eight bus-source feeds
Five holders feed individual RS boards and three feed separate 9 V regulators through a touch-safe SBS75G tether boundary.
No fuse values released
Fault current, wire, connector temperature, coordination and regeneration evidence remain open.
One-axis first-power station
25-axis work order
Every whole-body actuator has a cable selection, proposed global ID and read-only commissioning row.
0.25 A candidate limit
One disconnected actuator at 11.0 V; torque and motion commands are prohibited.
Qualified approval still required
The station is not permission to connect or energize hardware.
Commissioning bench harness
Exact manufacturer source leads
Red and black Mueller 39-inch shrouded-banana leads remove the custom plug-termination ambiguity.
Exact process tools
Candidate crimp, crimp-height, pull-test, cut and silicone-strip tools now have exact order codes and primary-source boundaries.
Explicit J1 polarity
Black/GND is cavity 1; red/VDD is cavity 2. Tip removal, strip, crimp and 25 +/-6 mm/min pull criteria are controlled.
Physical evidence open
Receipt, calibration, compatibility, coupon, inspection and connection authority remain unresolved.
Guarded actuator inspection
4 explicit models
Three fixture sizes derive from SHA-bound vendor geometry and fully cover the native output region.
No device-write API
The single-ID inspector exposes ping and read calls only; broadcast and scan paths are absent.
Physical approval open
Received fit, print quality, retention, SDK lock and connection authority are not yet validated.
The cable protection now follows every direct branch
25
individually protected direct actuator branches
76
explicit upstream joint-crossing segments
25
fixed transition candidates
50
rigid-link and flexible-joint guard solids
0
full-pose collision or physical validations
The controls-only fixture now has a real diagnostic watchdog board
40 x 25
millimetre native KiCad board with exact TPS3431 candidate.
Permit stays low
The fixture hard-grounds the permit input and keeps both watchdog outputs local.
Zero safety credit
The board and cable are unbuilt and all HIL, physical validation and work authority remain open.
The complete robot now has a physical static first-energization cell
1200 × 1000 × 1400
mm dimensioned guarded frame around the SHA-bound whole robot.
Supported, not suspended
Both feet rest on a platform and a rigid pelvis cradle carries the primary restraint intent.
Not a walking gantry
Structure, guards, restraint, site, instruments and all FER gates remain unvalidated and open.
The static cell now has physical construction hardware
31
dimensioned T-slot members across frame, doors, platform and pelvis cradle.
Framed and captured
Both doors are profile-framed and all six clear panels have a controlled gasket path.
Still unvalidated
Anchors, guard impact, interlocking, restraint dynamics and proof loads remain open.
The first-energization stages now have a real measurement architecture
18
controlled channels cover voltage, current, timing, temperature, thermal and video evidence.
Instrumented E0-E7
Every stage names mandatory channels, prechecks, abort conditions and retained evidence.
FER-G11 stays open
Calibration, protected test points and qualified numeric current, temperature and timing limits are not yet physical evidence.
The instrument bench now has a real floating measurement boundary
8 × 2
current-limited conductors with no shared analog reference.
Battery-only sync
One button produces the camera LED and NI timing edge without touching robot power.
FER-G11 stays open
Harnesses, fabrication, calibration, uncertainty and qualified limits remain physical gates.
The entire measurement chain can now be calibrated off-robot
72 x 3
scheduled calibration observations cover all eight floating voltage lanes.
One lane at a time
The passive fixture never joins channel returns and never connects to the robot.
Execution remains open
Build, calibrated received equipment, numeric limits, uncertainty review and FER-G11 are not complete.
Seven controlled leads make the calibration fixture physically usable
7
dimensioned source, normal, fault and DMM assemblies now have contact maps.
Faults cannot masquerade as normal
Reverse, open and short adapters use distinct colors and a separate storage compartment.
Still unbuilt
Crimp coupons, insulation limit, tool calibration, assembly and qualified review remain open.
The floating measurement panel now has exact NI-side cables
16
analog conductors individually mapped from panel contacts to NI-9229 terminals.
14 = DIO0, 1 = COM
The battery-only slate has an exact NI-9924 contact map, SH termination and required NI ferrite.
Robot pickoffs stay open
Protected physical diagnostic terminals, build, calibration and FER-G11 still block connection.
Every measurement cable now starts behind a source-local pod
8
separate one-channel pods bind the eight exact whole-body measurement nodes.
2 x 100 kΩ per lead
A single resistor-short fault still leaves 100 kΩ before the long cable.
Source taps remain open
Device-specific terminal hardware and the short upstream tails still block connection and FER-G11.
Installed equipment—not empty bays
64 located candidate items, 3.812 kg provisional as-installed mass. Eight one-bus walking-power boards are visible in the pelvis, torso and thighs. The rear-torso battery envelope is retained as rejected legacy geometry; tether-first is primary and every physical energy selection remains open.
Equipment register · Equipment STEP · Integrated whole-robot STEP · Battery-source boundary.
The harness now has a bounded current-duty input
25
axis command channels mapped
8
bus envelopes calculated
Thermal release remains open
Active gripping, idle/loss current, transients, faults and physical tests are not included.
The whole-body duty now reaches the physical harness
25
axis route-specific loss cases
6
bundle test obligations
0
thermal or powered-work approvals
Every safety function now has an implementation disposition
3 connected candidates
E-stop energy removal, restart prevention and EDM have exact current circuit bindings. They remain unvalidated.
9 incomplete or uncredited
Harness backfeed, protection, restraint, speed/travel and power-loss functions still have material implementation gaps.
The pelvis has a physical three-rail auxiliary-power candidate
30 + 40 + 30 W
current isolated modules for compute, HMI and deterministic control.
150 × 58
millimetre carrier with native KiCad and editable STEP/GLB.
HMI margin: 10 W
The TEN 40-1211E removes the former zero-margin architecture defect; physical validation remains open.
Protection open
Fuse, reverse/inrush, PE bond, harness, thermal and physical validation remain unreleased.