| Project Domains | Mentors |
|---|---|
| Mechanical Design, 3D Printing, Kinematics | Ashutosh Yadav, Ashish Nerlekar, Rishiraj Rajgor |
Project Description
This project focuses on designing and fabricating a humanoid bipedal lower body (40-50 cm height) inspired by open-source humanoid platforms such as Asimov. Students will develop a mechanically feasible lower-body humanoid structure capable of replicating human leg kinematics using Hip (Roll + Pitch), Knee (Pitch), and Ankle (Pitch) joints.
The project emphasizes CAD-based mechanical design, lightweight modular 3D-printed structures, actuator integration, and kinematic validation rather than full autonomous locomotion. Mentees will work on joint architecture, structural optimization, and prototype assembly to create a functional humanoid lower-body platform.
The goal is to provide hands-on experience in humanoid mechanical design and robotic prototyping.
Resources
Asimov Manual
Asimov GitHub Repository
Reference Video
Kinematics and Dynamics Modelling of the Biped Robot
Trajectory Planning and Inverse Kinematics Solver for Real Biped Robot with 10 DOF-s