Documentation Research:

Links:

https://github.com/pollen-robotics/

https://forum.pollen-robotics.com

Reachy Official Documentation

Hints to work on: (from Phil)

What it is

(Also — see appendix for the documentation of Electronics & Software. It is from a Journal published in 2019)

“Reachy” robot (modular, open source) that runs Raspbian and Luos on a Raspberry Pi 4 with Google’s Coral AI Accelerator. The torso-like bot has one or two articulated, 7-DoF arms with pincers and a ball-joint head with dual cams.

  1. Reachy's motors are connected with each other in a series using three-pin connectors and powered by a pair of 12 V × 5 A power supply units, for a total power of 120 W. At one end of the series, a USB adapter allows for plugging into a computer.

  2. FOR BOM: https://github.com/poppy-project/poppy-humanoid/blob/master/hardware/doc/BOM.md (print parts SLS or FDM)

  3. AI components (Google Coral TPU, Raspberry pi)

    1. Alternatives for Raspberry Pi: https://www.electromaker.io/blog/article/10-best-raspberry-pi-alternatives

  4. computer vision (cameras)

    Raspberry Pi cameras associated with 2 optical lenses (one macro and one wide angle). See details on Raspberry Pi Camera module here: https://www.raspberrypi.org/documentation/hardware/camera/

  5. audio

  6. motors (optional)

    1. cpu/controller board

  7. connectors (electrical ports)

  8. Component communication (wired or wireless or bluetooth)

  9. Power supply

  10. PCB design/frabrication

  11. Luos and Rombus

    1. a simple and lightweight distributed operating system dedicated to embedded systems enabling microservices architecture for electronics
    2. Unleash electronic devices as microservices thanks to an embedded architecture to turn electronics into microservices.

  12. Wiring

  13. Sensors

  14. Actuators (Dynamixel board)

    A module is a block of code which is able to communicate with any other modules through the Luos network. Each module provides an API allowing to manage a motor, handle a laser range finder, or compute an inverse-kinematics, for example. Each module is hosted in a single node, but a node can handle several modules at the same time and manage communication between them and between other modules hosted in other nodes, using the same interface.

    For example, the Dynamixel board provided by Luos can dynamically create and manage Dynamixel modules depending on the number of Dynamixel motors linked to it. Any Dynamixel modules can get or set values to other Dynamixel modules on the same node or to any other modules in any other nodes in the network.

Pollen BOM - Electrical

Embedded control

Power Supply

Audio/video

Communication

Sensors

Luos Electronic Design guidelines:

A Luos-friendly electronic board must contain at least the following elements:

1 MCU (microcontroller unit): It hosts, as a node, the Luos firmware along with the different modules (drivers and apps).

https://docs.luos.io/pages/low/electronic-design.html

https://github.com/Luos-io/Examples/tree/master/Projects

https://docs.luos.io/pages/overview/general-basics.html

—Logan (from Logan)

https://github.com/Luos-io/Examples/tree/master/Projects/Dxl/boards/l0_Dynamixel

https://docs.luos.io/pages/prototyping_boards/boards_list/dxl.html

Luos Prototyping Boards: https://docs.luos.io/pages/prototyping_boards/boards-list.html

Dynamixel Board: https://docs.luos.io/pages/prototyping_boards/boards_list/dxl.html

What documentation is there

  1. Power requirements
  2. CPU requirements
  3. Sensors (cameras, microphones)
  4. Luos works with all ARM MCUs: https://docs.luos.io/pages/prototyping_boards/electronic-use.html

What is not documented

  1. Bluetooth communication in Reachy isn't documented
  2. AI & Google Coral TPU documentation is missing
  3. Wiring information is missing
  4. PCB designs
  5. Inertial Measurement Unit Question.

Major subsystems: