ToddlerBot: Open-Source Humanoid Robot Platform for Machine Learning Research in Loco-Manipulation
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Summary
ToddlerBot is an open-source humanoid robot platform designed for machine learning research in loco-manipulation. It features 30 active degrees of freedom (7 per arm, 6 per leg, 2-DoF neck, and 2-DoF waist) with two end-effector designs (compliant palm and parallel-jaw gripper). The platform includes comprehensive sensor systems with fisheye cameras, microphones, speaker, IMU, and is powered by a Jetson Orin NX computer, making it specifically designed for ML compatibility and research applications.
Key quotes
· 4 pulledWe present ToddleBot's mechatronic design in the figure below
We highlight ToddlerBot's 30 active DoFs with orange markers: 7 DoFs per arm, 6 DoFs per leg, a 2-DoF neck, and a 2-DoF waist
Green markers indicate two end-effector designs—a compliant palm and a parallel-jaw gripper
Purple markers denote the sensor and electronics layout with exploded views, featuring two fisheye cameras, a speaker, two microphones, an IMU, and a Jetson Orin NX computer
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