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MH2

Miha 2 (Mini Humanoid Gen 2) is a 22 Degrees of Freedom (DOF) Humanoid Robot intended for research and learning.

The main features of the robot are:

  • 22 high performance daisy chained actuators XL-320 from Robotis
  • Main controller: FriendlyElec NanoPi Neo Core2 LTS with:
    • Quad-Core Allwinner H5 processor at 1.5GHz
    • 1GB RAM
    • only 7g weight
  • Custom add-on board with:
  • 5MP USB camera (in the head)
  • 1.5" 128x128 pixel OLED display (I2C SSD1327 chip)
  • 8 tactile switches controlled with a TCA9538 I2C I/O expander providing easy interation with the menues on display
  • Power provided by 4 18650 industry standard rechargeable batteries located in the feet and hotswappable; the hotswap capability is provided by a pair of small cicuits that provide a "smart diode" functionality, preventing rush current while chainging the batteries. A full charge allows aproximatelly 4 hours of operation.

The software is based on the pypot library and I have plans to include ROS support by leveraging the ROBOTIS-Framework packages.

The robot parts are 3D printed.

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