https://github.com/assadollahi/kayra

an easy to modify, 3d printable open source humanoid robot evolved by the community
https://github.com/assadollahi/kayra

Last synced: 3 months ago
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an easy to modify, 3d printable open source humanoid robot evolved by the community

• Host: GitHub
• URL: https://github.com/assadollahi/kayra
• Owner: assadollahi
• License: bsd-3-clause
• Created: 2022-08-19T20:20:06.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-06-08T13:08:41.000Z (5 months ago)
• Last Synced: 2024-06-25T10:38:00.622Z (5 months ago)
• Language: Python
• Size: 54.4 MB
• Stars: 40
• Watchers: 6
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-social-robots - Kayra - An easy to modify, 3D printable open-source humanoid robot evolved by the community - BSD-3-Clause license ([Robots](#robots) / [Open-Source Robots](#open-robots))

README

        
# kayra

An easy to modify, 3D printable open-source humanoid robot evolved by the community:

[![Alt text](https://img.youtube.com/vi/mKMwAWRPoXo/0.jpg)](https://youtube.com/shorts/mKMwAWRPoXo)

- goal: can walk nearly as fast as a human toddler

- goal: it can use the arms to lift at least a toy

- works immediately after building it (walking, grabbing movement patterns provided)

- is easy to charge / batteries easy to change

- can be operated by a variety of controllers (Arduino, ESP-32, etc)

- option: can also be controlled via a remote control (PS2, 8Bitdo)

- is connected to a host for Machine Learning / Computer Vision

- design should be adaptable to different servos

- modular so that enthusiasts can change the design of a subsystem

- is easy to 3D print and to assemble, ideally no soldering necessary

- easy to write software for (Python on host, Micropython on controllers)

- costs for a minimal system should be low

- simulation provided to work on the robot without any hardware at all

[![Alt text](https://img.youtube.com/vi/ZpM4JqCai9M/0.jpg)](https://youtu.be/ZpM4JqCai9M)

Folders:

- FCStd: design files for freeCAD (Kayra is designed using the open source software freeCAD)

- gcode: printable files for Prusa i3 MK3, PETG

- Pics: some of documentation pictures

- STL: STL files for your 3D printer slicer 

- software: all software for the ESP32 Cam, Pimoroni 2040 servo-controller and host side

- MuJoCo: simulation of Kayra using the STLs in DeepMind's robot simulation software

[![Alt text](https://img.youtube.com/vi/0EgQA_qSZeU/0.jpg)](https://youtube.com/shorts/0EgQA_qSZeU)

For full documentation & wiki please refer to [kayra.org](https://kayra.org)

Join our [discord sever](https://discord.gg/BEGypnqF74) for discussion and support.

Follow us on [twitter](https://twitter.com/KayraHumanoid) or [instagram](https://www.instagram.com/kayrahumanoid/) for frequent updates.