humanoid.mov

Tutorials

Build the mechanism yourself

Each tutorial pairs the video with written steps that jump to the matching timestamp, and the code shown on screen. Series are ordered so you can work through them in sequence.

4 tutorials/4 series/15 topics

Topics covered

#3d-printing#actuators#ball-screw#compliance#diy-robotics#force-control#force-testing#gait-control#hardware-interface#impedance-control#odrive#ros2#ros2-control#series-elastic-actuators#twist

Actuator Fundamentals

1 part · 4:28 total

Beginner
  1. Part 1Beginner4:28

    Series Elastic Actuators: Force Control from First Principles

    The single most useful idea in compliant actuation, explained from scratch: insert a spring between motor and load and force becomes something you can measure and command directly.

    series-elastic-actuatorsforce-controlcomplianceimpedance-control

Beginner level series

Build a Robot Actuator

1 part · 10:00 total

Intermediate
  1. Part 1Intermediate10:00

    Build a Ball-screw Actuator for a Leg Joint

    Assemble a linear actuator in the same class as the joints inside Spot-style quadrupeds, using a ball screw, a brushless motor, an ODrive and a magnetic encoder, then measure its real force output.

    actuatorsodriveball-screwforce-testing

Intermediate level series

Humanoid Build Diary

1 part · 12:03 total

Beginner
  1. Part 1Beginner12:03

    Lessons from a Decade of Walking Robots

    A retrospective over ten years of garage-built walkers: which mechanisms survived contact with reality, and which control assumptions did not.

    diy-roboticsgait-control3d-printing

Beginner level series

ROS 2 for Real Robots

1 part · 33:00 total

Intermediate
  1. Part 1Intermediate33:00

    Using ros2_control to Drive a Real Robot

    Move past simulation: wire ros2_control up to physical hardware, write a hardware interface, and accept velocity commands from a topic so any standard controller can drive the base.

    ros2ros2-controlhardware-interfacetwist

Intermediate level series