rpo_hardware - RoboParty RPO Humanoid Robot Hardware

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Project Introduction: This repository is the open-source hardware library for the RPO / Roboto Origin humanoid robot platform. It provides mechanical design files, PCB schematics, manufacturing assets, and versioned hardware documentation for developers and builders.

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📂 Repository Overview (Structure)

The project is organized by hardware version, with two primary branches of design files: V1.0 and V2.0.

📊 V1.0 vs V2.0 Feature Comparison

Feature	V1.0 (Legacy)	V2.0 (Current / Recommended)
Mechanical Design	Original Design	Reinforced Structure
Hardware Architecture	Discrete Modules	Highly Integrated Single Board
Core Improvements	-	Waist Limiting, Pin Calibration, Backplate Switch
Use Case	Legacy User Maintenance	New User Development, Mass Production

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🔧 V1.0 Legacy Hardware (atom01_mechanic / atom01_pcb)

Positioning: Original legacy version containing the early mechanical structure and discrete circuit board design. The historical directory names are retained for compatibility with existing files and references.

• Core Components:
  • Mechanical: Basic bipedal structure design, including early assembly documentation and URDF files.
  • Hardware: Separate Power and Communication boards (Roboto_Power, Roboto_Usb2Can).
• Target Audience: Limited to legacy users still utilizing the first-generation hardware for reference.

🚀 V2.0 RPO / Roboto Origin Hardware (roboto_origin_mechanic / roboto_origin_pcb)

Positioning: Current recommended version, comprehensively restructured for usability, stability, and integration.

✨ Core Update Highlights

• 🚀 Hardware System: Single Board Integration
  • Optimization: Integrated modules such as power management and communication interfaces into a single core circuit board.
  • Advantage: Significantly simplifies internal cabling, reduces connector failure points, and enhances system stability and EMC (Electromagnetic Compatibility).
• ⚙️ Mechanical System: Structural Reinforcement & Calibration Upgrade
  • Waist Limiting: Added a mechanical limit switch to ensure absolute safety for waist rotation angles.
  • Calibration Method: Introduced limit pin calibration process, replacing the generic calibration method of the old version.
  • Arm Optimization: Corrected issues present in the arm components of the previous version.
  • Backplate Switch: Added a physical main control board switch to the robot's backplate.
• Target Audience: All new users, developers, and users looking to experience the latest features.

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📚 Quick Start

Please enter the corresponding directory based on your hardware version to obtain detailed documentation:

1. V2.0 Users (Recommended):
   • Mechanical Drawings: Enter V2.0/roboto_origin_mechanic/ to view assembly drawings and STL files.
   • PCB Files: Enter V2.0/roboto_origin_pcb/ to obtain Gerber files and schematics.
2. V1.0 Legacy Users:
   • Mechanical Drawings: Enter V1.0/atom01_mechanic/.
   • PCB Files: Enter V1.0/atom01_pcb/.

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Note: The mechanical structure and hardware interfaces of V2.0 are not compatible with V1.0. Please confirm the version before assembly or purchasing materials.

Naming Notes

This repository was migrated from the historical Atom01 naming scheme to rpo_hardware. Some V1.0 directories and model files still use historical atom01 names as compatibility paths. Do not rename those paths unless the related CAD, URDF, PCB, and documentation references are updated and validated together.