WATonomous Humanoid Documentation

Welcome to the documentation for the WATonomous Humanoid robot project at the University of Waterloo.

Sections

• Mechanical
  • 6 DOF Arm + 1 DOF Gripper — Motor Selection
  • Humanoid Leg (Work in Progress)
• Electrical
  • Overview
  • Power Distribution
  • CAN Bus
  • Connector Summary
  • Wire Gauge Summary
• Interfacing
  • Architecture Overview
  • CAN Bus Protocol
  • ROS2 CAN Interface
  • Embedded (STM32) FDCAN Driver
  • Hardware Setup
  • Development & Testing
  • Future Enhancements
  • References
• Firmware
• Software & Machine Learning
  • Bimanual Arm Inverse Kinematics
  • 6 DOF Arm + 15 DOF Hand Jacobian Iterative Based IK Controller
  • Reinforcement Learning
  • Geometric Fabrics PCA
• Gallery
• Project Links
  • Main Repository
  • Related Resources
  • Documentation
  • Contact

Editing This Documentation

All documentation is written in plain Markdown under the docs/ directory. You can click the Edit on GitHub button in the top right corner of any page to edit it directly in the GitHub editor.

Contact

Questions or contributions? Reach out to hycheng@uwaterloo.ca.