PRELIMINARY - MASS-BOUND WHOLE-BODY LIGHT4 ENGINEERING CANDIDATE ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, CONNECTION, POWERED TESTING, MOTION, WALKING, OR ENERGIZATION

The lightweight hips now belong to the same robot in CAD and dynamics.

The four physical 4:1 hip packages are reconciled into the complete 762 mm humanoid, then inverse dynamics and bounded control are recomputed from that exact mass model.

9.880 kg

0.120 kg below the program maximum in the planning model.

0.89°

maximum bounded tracking error; zero rotary saturation.

0.85×

worst inverse-demand/current-endpoint ratio (R_ANKLE_PITCH). Continuous duty remains open.

Complete integrated humanoid

WS-L01

0.89°

maximum tracking error; 0.00% saturation.

WS-R01

0.89°

maximum tracking error; 0.00% saturation.

Engineering files

URDF · MJCF · bounded test MJCF · link masses/COM · inverse demand · control results · whole-body STEP.

Still preliminary

This closes a model-consistency defect. It does not validate belt teeth, shafts, bearings, carriers, fasteners, backlash, efficiency, continuous torque, heat, wiring, balance, restraint, physical mass, motion, walking, or energization.