Humanoid robot with advanced wiring assembly
A humanoid robot comprising first and second actuators interconnected by a wire bundle. The first actuator includes a printed circuit board (PCB) with a terminal on a first side, and a second side featuring an output portion, an actuator cover with a wire bundle opening, and an actuator opening extending through the second side. The second actuator similarly includes a PCB with a terminal. A wire bundle, having end connectors coupled to each PCB terminal, includes a plurality of wires routed through the actuator opening and the wire bundle opening of the first actuator. The wires include a first portion positioned within the first actuator arranged in one shape, and a second portion external to the first actuator arranged in a different shape. The robot may further include a head-mounted screen, indicator lights, and a computer running a vision-language-action model enabling autonomous operation in human-centric environments.
1 . A humanoid robot, comprising:
a first actuator having:
a first side,
a first actuator printed circuit board (PCB) positioned near said first side of the first actuator and including a first PCB terminal, and
a second side that is opposed to the first side and including: (i) an output portion, (ii) an actuator cover coupled to the output portion and having a wire bundle opening formed therein, and (iii) an actuator opening formed through an extent of the second side;
a second actuator having:
a first side, and
a second actuator printed circuit board (PCB) positioned near said first side of the second actuator and including a second PCB terminal; and
a wire bundle having:
a first end connector coupled to the first PCB terminal,
a second end connector coupled to the second PCB terminal, and
a plurality of wires extending between the first end connector and the second end connector, and including: (i) a first portion positioned within the first actuator and having an extent that is arranged in a first shape, and (ii) a second portion positioned external to the first actuator and having an extent that is arranged in a second shape that is different from the first shape,
and wherein said plurality of wires extends through the actuator opening of the second side of the first actuator and the wire bundle opening formed in the actuator cover of the second side of the first actuator.
2 . The humanoid robot of claim 1 , further comprising a head having a screen positioned therein.
3 . The humanoid robot of claim 2 , further comprising a computer configured to run a vision-language-action model that allows the humanoid robot to operate autonomously.
4 . The humanoid robot of claim 1 , wherein the first actuator includes a strain wave gearbox.
5 . The humanoid robot of claim 1 , wherein the first actuator is positioned in a knee portion of the robot and includes a clutch.
6 . The humanoid robot of claim 1 , wherein the second actuator PCB includes a first positive voltage pin configured to conduct a first voltage, and a second positive voltage pin configured to conduct a second voltage; and
wherein the second voltage is both lower than the first voltage and less than 48 volts.
7 . The humanoid robot of claim 1 , wherein the first end connector has a width that is less than a diameter of the actuator opening of the first actuator.
8 . The humanoid robot of claim 7 , wherein an outer surface of the first end connector includes a planar surface.
9 . The humanoid robot of claim 1 , wherein the first actuator includes a permanent magnet synchronous motor coupled to a planetary gearbox.
10 . The humanoid robot of claim 1 , wherein the plurality of wires does not extend across more than two degrees of freedom.
11 . The humanoid robot of claim 1 , wherein the first actuator further comprises a Hall-effect sensor that is operatively coupled to a portion of the first actuator PCB.
12 . The humanoid robot of claim 11 , wherein the first actuator further comprises an inductive encoder that is operatively coupled to a portion of the first actuator PCB.
13 . The humanoid robot of claim 1 , wherein the wire bundle opening does not have a substantially circular cross-sectional area.
14 . The humanoid robot of claim 1 , wherein the actuator opening of the first actuator resides in a first plane, and the wire bundle opening in the actuator cover resides in a second plane that is oriented at a non-zero angle relative to the first plane.
15 . The humanoid robot of claim 1 , wherein the first PCB terminal includes a first plurality of signal pins, and the second PCB terminal includes a second plurality of signal pins; and
wherein a number of signal pins in the first plurality of signal pins is greater than a number of signal pins in the second plurality of signal pins.
16 . The humanoid robot of claim 1 , wherein said first portion twists angularly within the first actuator when the output portion of the first actuator moves.
17 . The humanoid robot of claim 1 , wherein the first PCB terminal is coupled to the first connector via a threaded nut.
18 . The humanoid robot of claim 1 , wherein the first portion has a substantially rectangular cross-sectional area.
19 . The humanoid robot of claim 1 , further comprising a head with an indicator light positioned adjacent to a frontal shield within said head.
20 . The humanoid robot of claim 1 , further comprising an indicator light that indicates an operation status of a component of the humanoid robot.
21 . The humanoid robot of claim 1 , wherein the first actuator is a spinal actuator coupled to a pelvis of the humanoid robot.
22 . The humanoid robot of claim 1 , wherein both power and data are configured to pass through the first end connector.