Building a humanoid robot requires clear and measurable specifications that guide its design, functionality, and performance. These specifications ensure that the robot meets its intended purpose, whether for research, industrial, service, or personal use. Below is a detailed breakdown of the key specifications for building a humanoid robot:
1. Physical Specifications
1.1 Dimensions
- Height: Typically between 50 cm to 180 cm, depending on the application.
- Example: ~60 cm for educational robots (e.g., NAO), ~180 cm for advanced robots (e.g., Atlas).
- Width: Proportional to height, ensuring human-like proportions.
- Weight: Between 5 kg to 80 kg, optimized for mobility and safety.
- Lighter robots for agility, heavier robots for load-bearing tasks.
1.2 Materials
- Frame: Aluminum, carbon fiber, or titanium for strength and lightweight construction.
- Exoskeleton/Casing: ABS plastic or polycarbonate for durability and aesthetics.
1.3 Degrees of Freedom (DOF)
- Head: 2-3 DOF (e.g., nodding, tilting, rotation).
- Arms: 6-7 DOF per arm for human-like manipulation.
- Legs: 5-6 DOF per leg for walking and balance.
- Fingers: 2-4 DOF per finger for dexterous gripping.
2. Locomotion Specifications
2.1 Walking Speed
- Range: 0.5 m/s to 1.5 m/s, depending on the application.
2.2 Terrain Capability
- Operate on flat surfaces, stairs, and uneven terrain with a maximum incline of 10-15 degrees.
2.3 Stability
- Dynamic and static balance with real-time correction for external disturbances.
3. Manipulation Specifications
3.1 Arm Reach
- Approximately 70-80% of the robot’s height for effective manipulation.
3.2 Payload Capacity
- Arms: 2-10 kg per arm for typical lifting tasks.
- Full Body: Total payload capacity including external tools or objects (10-30 kg).
3.3 Gripping Precision
- Capable of handling objects ranging from 5 mm to 200 mm in diameter.
4. Sensor Specifications
4.1 Vision
- Cameras:
- RGB Camera: Minimum resolution of 1080p.
- Depth Camera: ~30 fps, with a range of 0.5 m to 4 m.
- Stereo Cameras for 3D perception.
- Field of View (FOV): 60-120 degrees, depending on the task.
4.2 Audio
- Microphone Array: Multi-directional microphones for accurate speech recognition.
- Noise Cancellation: Integrated for operation in noisy environments.
4.3 Tactile Sensors
- Placement: Hands, arms, and feet.
- Pressure Sensitivity: Detect forces between 0.1 N and 50 N.
4.4 Proximity Sensors
- Range: 0.2 m to 2 m for obstacle detection and avoidance.
- Types: Ultrasonic, LiDAR, or infrared.
4.5 IMUs (Inertial Measurement Units)
- Specifications: 6-axis or 9-axis IMUs for real-time orientation and balance.
5. Actuation Specifications
5.1 Actuator Types
- Servo Motors: Torque rating between 1 Nm and 50 Nm, depending on joint requirements.
- BLDC Motors: High efficiency for dynamic joints (e.g., legs and arms).
- Linear Actuators: For prismatic joint movements.
5.2 Joint Torque
- Shoulder and Hip Joints: 20-40 Nm.
- Knee Joints: 30-50 Nm.
- Wrist and Elbow Joints: 5-15 Nm.
6. Power Specifications
6.1 Power Source
- Battery:
- Type: Lithium-ion or Lithium-polymer.
- Capacity: 3000-10000 mAh, depending on operational duration.
- Power Consumption:
- Idle: ~20 W.
- Walking: ~100-200 W.
- Maximum Load: ~500 W.
6.2 Operating Time
- Minimum: 2-6 hours on a single charge.
6.3 Charging
- Duration: 2-4 hours.
- Optional: Wireless charging compatibility.
7. Processing Specifications
7.1 Central Processing Unit (CPU)
- Minimum: Quad-core processor (e.g., ARM Cortex or Intel i7).
- Advanced: NVIDIA Jetson Xavier or AMD Ryzen.
7.2 Graphics Processing Unit (GPU)
- Required for AI and vision processing.
- Minimum: Integrated GPU.
- Advanced: Dedicated GPU like NVIDIA GTX or RTX series.
7.3 Memory
- RAM: 8-16 GB for real-time processing.
- Storage: 32-256 GB SSD for operating systems and data.
8. Software Specifications
8.1 Operating System
- ROS (Robot Operating System) or ROS 2 for middleware.
- Linux-based OS for development and deployment.
8.2 Programming Languages
- Python, C++, and JavaScript for AI, control systems, and web interfaces.
8.3 AI Integration
- NLP Models: Dialogflow, OpenAI GPT.
- Vision Libraries: OpenCV, YOLO.
- Learning Frameworks: TensorFlow, PyTorch.
9. Communication Specifications
9.1 Connectivity
- Wi-Fi: IEEE 802.11n or later.
- Bluetooth: Version 5.0 or later.
- Optional: Cellular connectivity (4G/5G).
9.2 Data Transfer Rate
- Minimum: 1 Gbps for high-speed communication.
9.3 IoT Integration
- Compatibility with smart home devices and cloud platforms.
10. Safety Specifications
10.1 Collision Detection
- Sensors: LiDAR, ultrasonic, and tactile.
- Reaction Time: <50 ms for collision avoidance.
10.2 Force Limiting
- Ensure joint forces are capped within safe thresholds (ISO 15066 compliance).
10.3 Emergency Features
- Emergency stop buttons and automatic shutdown mechanisms.
11. Environmental Specifications
11.1 Operating Conditions
- Temperature: 0°C to 40°C.
- Humidity: 10-90% non-condensing.
11.2 Ingress Protection (IP Rating)
- IP42 or higher for dust and splash resistance.
12. Aesthetic and Ergonomic Specifications
12.1 Appearance
- Design: Human-like with smooth, rounded edges.
- Materials: Soft coverings for areas of human contact.
12.2 Weight Distribution
- Center of gravity optimized for stable locomotion.
Example Specifications for an Advanced Humanoid Robot
| Feature | Specification |
| Height | 160 cm |
| Weight | 50 kg |
| DOF | 30 DOF (Head: 3, Arms: 7 each, Legs: 6 each) |
| Battery Capacity | 6000 mAh |
| Walking Speed | 1.2 m/s |
| Vision System | 1080p RGB Camera + Depth Camera |
| Processor | NVIDIA Jetson Xavier |
| Sensors | IMUs, tactile, LiDAR, microphones |
| Payload Capacity | 10 kg (per arm) |
By defining these specifications early in the design process, you can ensure that the humanoid robot meets performance goals and is optimized for its intended use case.