NanoLoong-Bipedal

Building a high-performance bipedal robot that combines Pixar and Disney BDX！

In this project, we combined Pixar's lamp robot and Disney's BDX robot to build a 60cm high-performance Nano bipedal robot.
The entire robot uses a brushless motor, runs a reinforcement learning algorithm and comes with an open source tutorial. The cost of the whole machine is less than 15,000 RMB!
This project will update the latest information in real time in the Feishu link below[https://hcn64ij2s2xr.feishu.cn/wiki/AZJxwlvEpiWnRrkeBbGc21U9n7f]
Detail intro:
https://www.bilibili.com/video/BV1FRZoY1ExW/?spm_id_from=333.337.search-card.all.click

State of sim2real

The gait of Nano version is highly consistent with the BDX effect !

tinker_real_back_push_smaller.mp4

tinker_real_demo.mp4

Updates

Update 2025/4/5: You can try two policies we trained : Update Nano first release version.

CAD

jixie.mp4

See this document for getting from the CAD design of Nano.

PCB

PCB.mp4

See this document for getting from the PCB design of Nano.

RL stuff

We are switching to IsaccGym, see this repo

tinker_v2-2025-03-18.mp4

ref_motion_demo.mp4

AI xiaozhi with LLM

Robots can install Xiaozhi AI modules to implement large language model functions !

xiaozhiAI.mp4

See this repo

BOM

You can get the BOM list at the link below. https://hcn64ij2s2xr.feishu.cn/wiki/DPWDwNWaZiGNvpkbRrGcBXCHn7d

Build Guide

The following is an overview of the robot project. https://hcn64ij2s2xr.feishu.cn/wiki/AZJxwlvEpiWnRrkeBbGc21U9n7f

Assembly Guide

The following link is an introduction to the overall project assembly of the robot. https://hcn64ij2s2xr.feishu.cn/wiki/FqmXwnRYliwYFbkXCO7csSHWnfh

Software Guide

This repo contains the software to run the policies of TVM on the onboard computer (Odroid C4) https://hcn64ij2s2xr.feishu.cn/wiki/MJ25wew9PijvXlkIoH7cZ9e4nCh

Training your own policies

If you want to train your own policies, see this document