Energy Efficiency in Humanoid Robots: From Ballistic Walking to Optimal Control
Hey friend, One of the problems with humanoid robots is that they use a lot of energy. Tesla Optimus, Figure […]
Humanoid robotics, Physics
Humanoid robotics, Machine Learning/Programming
Robot Operating System (ROS2) Basics for Humanoid Development
Hey friend, If you have been following along with this fundamentals series you now understand a lot about the physics,
Humanoid robotics, Physics
Center of Pressure (CoP) vs Center of Mass (CoM): Key Differences in Dynamic Balance
Hey friend, One of the questions I get asked often is: “What’s the difference between the Center of Mass and
Humanoid robotics, Machine Learning/Programming
Imitation Learning Fundamentals: Teaching Robots from Human Motion Capture Data
Hey friend, One of the exciting things happening in humanoid robotics is teaching robots to learn from humans. Of programming
Humanoid robotics, Mechanism, Physics
Compliant Mechanisms and Series Elastic Actuators: Adding “Softness” to Rigid Robots
Hey friend I want to tell you about something that really surprised me when I was learning about humanoid robots.
Humanoid robotics, Machine Learning/Programming
Model Predictive Control (MPC) Introduction: Optimizing Future Steps for Balance
Hey friend I have been thinking about all the things we have learned far like ZMP, Jacobian, Lagrangian dynamics, trajectory
Humanoid robotics, Mathematics, Physics
Jacobian Matrix Explained: From Velocity Kinematics to Force Control
Hey friend The Jacobian matrix is a tool that helps us understand how humanoid robots move and interact with the
Humanoid robotics, Machine Learning/Programming, Mathematics, Physics
Trajectory Planning Basics: Cubic Polynomials and Minimum-Jerk Trajectories
Hey friend I was watching a humanoid robot like Tesla Optimus or Figure 01 the day. It was moving its
Humanoid robotics, Mechanism, Physics
Actuator Fundamentals: Electric Motors, Gears and Torque-Speed Curves in Humanoids
Hey friend After spending a lot of time talking about balance and movement in humanoids it is time to talk
Humanoid robotics, Mathematics, Physics
Mechanics for Robot Dynamics: Deriving Equations of Motion
Hello friend I am going to be honest with you. When I first learned about mechanics in robotics I thought
Humanoid robotics, Machine Learning/Programming
Reinforcement Learning 101 for Humanoids: Reward Design for Walking
Hello, I want to tell you a story. I still remember the time I tried to teach a robot to
Humanoid robotics, Machine Learning/Programming, Mathematics
Denavit-Hartenberg Parameters: The Standard Way to Model Humanoid Kinematics
Hey friend I got a lot of questions after I wrote about Forward and Inverse Kinematics. You guys asked me:
Humanoid robotics, Mechanism, Physics
Contact Mechanics Basics: Friction, Normal Forces and Foot-Ground Interaction
Hey friend I still remember the time I saw a small humanoid robot take a few steps and then suddenly
Humanoid robotics, Machine Learning/Programming, Mechanism
Introduction to PID Control for Humanoid Joints: Tuning Servos in Practice
Hey friend I still remember the time I tried to make a small servo-powered robot arm move smoothly. I set
Humanoid robotics, Physics
Zero Moment Point (ZMP) Criterion: The Important Concept in Humanoid Balance
Hey friend If there is one concept that separates robots that can walk with confidence from those that fall over
Humanoid robotics, Mechanism, Physics
Degrees of Freedom Explained: Why Humanoids Need 20–40+ Joints
Hey friend, I still remember the time I opened a humanoid robot specification sheet and saw the number “42 degrees
Humanoid robotics, Machine Learning/Programming, Mathematics, Mechanism, Physics
Introduction to Forward and Inverse Kinematics for Humanoid Arms and Legs
Hey there! If you’ve ever wondered how a robot like Tesla’s Optimus or Figure 01 knows exactly where to move
Humanoid robotics, Mechanism, Physics
The Physics of Bipedal Standing: Center of Mass, Base of Support, and Static Stability
You know what always amazes me? Humans stand upright every day without thinking about it.. Making a robot do the
Humanoid robotics, Mechanism
What Makes a Robot “Humanoid”?
Hey friend have you ever seen a video of Tesla’s Optimus or Figure 01 walking around and thought, “Wow that
Humanoid robotics, Mechanism, Physics
Why Joints Are So Important in Humanoid Robots They’re Not Just Hinges
You know when people look at cool humanoid robot videos. They usually focus on the body.. The smooth walking.. The