This project focused on developing two open-source 3D-printed humanoid robots, Koalby and Ava, as versatile lab assistants with a focus on lifting objects, pushing a cart, and walking. Static and dynamic analyses were carried out to guide a series of redesigns to improve strength and integrate new components. The redesigns included a new grip mechanism to lift objects, sensors to aid the walking component, and component updates to integrate new lower cost motors. The grip was an under-actuated, 3-point finger grip with an electromagnet attached to the base of the forearm. A new spine was created, attached at the chest and pelvis, to assist with stability for standing and walking. The chest and feet were redesigned to include sensors to assist in walking. To make the robots more cost effective, all of the Dynamixel motors were replaced with HerkuleX DRS motors allowing for uniformity in design and programming.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Lytle, Tessa
• Austin, Emily
• Van Milligen, James
• Alarcon, Zenia
• Alag, Aashish Singh

Subject

• Health
• Innovation
• Project-Based Learning
• Learning
• Community
• Industry

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050323-145305
• 108466

Keyword

• Humanoid Robot
• DLP Resin Printing
• FDM Printing
• 3D Printed
• Koalby Project
• Poppy Project

Advisor

• Radhakrishnan, Pradeep
• Pahlavan, Kaveh

Year

• 2023

UN Sustainable Development Goals

• 7 - Affordable and Clean Energy
• 9 - Industry, Innovation and Infrastructure

Date created

• 2023-05-03

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering

Source

• E-project-050323-145305

Rights statement

• In Copyright

Last modified

• 2023-06-23