Bipedal Humanoid Robot

A bipedal humanoid robot with novel quasi-direct-drive actuation for high bandwidth, high torque, and backdrivability without torque sensors.

• Used novel quasi-direct-drive actuation without torque sensors
• Implemented belt-driven transmission to reduce distal limb mass
• Created modular design with separate arm, torso, and leg components
• Designed for low-cost, off-the-shelf components while maintaining high performance
• Applied reinforcement learning control strategies