humanoid-robot
amyleesterling
detailed specs to build a humanoid robot (with kids)
Components (9)
| Reference | Value | Description |
|---|---|---|
| U1 | ROBOTIS U2D2 902-0132-000 | U2D2 supplies communication only. Confirm received USB revision; units changed from Micro-B to USB-C in August 2025. Keep the internal 120 ohm switch OFF for the one-actuator first-power setup unless a qualified waveform test directs otherwise. |
| DUT1 | ONE DISCONNECTED HR-30 ACTUATOR | Actuator output hardware is mechanically supported and cannot drive a body link during first power. Proposed ID assignment is a later separately authorized configuration step. |
| HOST1 | QUALIFIED HOST / DYNAMIXEL WIZARD 2.0 | No goal position, velocity, current, PWM, reboot, factory reset or firmware update command is allowed in the first-power stage. |
| J1 | MOLEX 39-01-2020 / 39-00-0038 | 18 AWG Mueller BU-0061-M red/black leads into the PHB Mini-Fit Jr input after complete removal of the tin-dipped free-end segment. Received cable OD/material, contact crimp height, pull test and polarity remain validation work. |
| P1 | MUELLER BU-0061-M-39-2 / -39-0 LEAD PAIR | Manufacturer-assembled 39 inch shrouded-banana leads with 18 AWG silicone cable and tin-dipped free ends. The dipped portions are sacrificial and must not enter the Mini-Fit crimp. Received wire OD/material, fresh-cut preparation, polarity and insulation require 100% inspection. |
| PHB1 | ROBOTIS U2D2 POWER HUB 902-0145-001 | Manufacturer maximum is 10 A, but this station is source-limited to 0.25 A for first power and 2.0 A absolute equipment configuration maximum. The barrel and screw-terminal inputs must remain physically empty. |
| PS1 | KEYSIGHT E36313A OUTPUT 2 OR 3 | UL/CSA/IEC 61010-1 listed bench instrument. Candidate setting is 11.0 V with 0.25 A current limit for read-only first power; 25 V/2 A channel maximum is below the JST EH 3 A catalog boundary. Exact instrument calibration and qualified procedure approval remain open. |
| X3 | ROBOTIS X3P 180 MM 903-0249-000 | For XC330-T only. One actuator is physically disconnected from the whole-body harness before connection. |
| X4 | ROBOTIS X4P 180 MM 903-0244-000 | For XH540-R, XM540-R or XM430-R only. One actuator is physically disconnected from the whole-body harness before connection. |