📌Open-Humanoid-180 Roadmap

[ProMineGG]

Open-Humanoid-180 Roadmap

Phase 0: Foundation (completed)

• Full BOM with prices and links
• Power distribution and protection schematic
• Weight budget per component
• 3D models of all major components
• Repository structure, README, licenses
• CREDITS file with authorship details

---

Phase 1: Mechanics & CAD (current)

• Reducer design (PTK): cam profile and roller calculations
• 3D printing of reducer prototype (PA12-CF)
• CAD assembly of a single joint (knee / shoulder)
• Bench assembly: motor + reducer + encoder
• Backlash, stiffness, and gear ratio verification

Help needed: Mechanical engineers, FreeCAD / Fusion 360 users.

---

Phase 2: Electronics & Firmware

• Power bench: 7S battery, BMS, buck converters
• Connect ODrive to 6384 motor and MT6826S encoder
• Tune FOC on ODrive under load
• ESP32-S3 firmware: CAN gateway and IMU polling
• AT32F403ACGU7 firmware: SimpleFOCMini control and encoder reading

Help needed: MCU programmers, FOC specialists.

---

Phase 3: Single Joint Prototype

• Assemble a complete hip + knee module
• Write test code for CAN control
• Measure current and torque under real conditions
• Record video of the joint in action

Help needed: Testers, videographers.

---

Phase 4: Limbs & Torso

• CAD assembly of full leg (hip, thigh, shin, foot)
• CAD assembly of full arm (shoulder, elbow, hand)
• CAD assembly of head and neck
• Layout all components inside the frame
• Bowden cable system for fingers

Help needed: CAD designers, packaging engineers.

---

Phase 5: Control System

• High-level logic on laptop (Ubuntu + ROS2)
• Integrate YOLO / VLM for vision
• Walking gait algorithm (forward/inverse kinematics)
• Simulation in Gazebo / Isaac Sim
• Move control from laptop to onboard ESP32 gateway

Help needed: ROS2 developers, AI and simulation specialists.

---

Phase 6: Full Robot

• Assemble all limbs
• Routing wiring harnesses, install connectors
• Balance and PID tuning for all joints
• First steps (with external support / harness)
• Autonomous standing and walking
• Run onboard AI (object recognition, voice control)

Help needed: Anyone willing to join assembly and tuning.

---

Phase 7: Open Release

• Publish all CAD files publicly
• Complete assembly and setup documentation
• Video tutorials
• GitHub release and presentation on community platforms

Help needed: Technical writers, video bloggers.

---

How to help right now

Pick any task from the current phase, open an Issue, and we'll discuss details. Pull requests are welcome.

Last updated: August 2026