QingLoong Full-Size Universal Humanoid Robot Hardware Open-Source Content

Overview

This project provides the hardware open-source content for the "QingLoong" full-size universal humanoid robot. It includes information about the robot's main system components, core parts, technical specifications, and perception system. The robot features bionic motion control and highly flexible sensory capabilities, suitable for automating tasks in various environments. This open-source content includes drawings, design plans, and relevant documents, aiming to promote the further development of artificial intelligence and robotics technologies.

📖 Read this in Chinese / 阅读中文版

Folder Structure

• TA00-03-00-Waist Component Contains the robot's waist joint design, drive system, and mechanical structure drawings.

  1. TA00-03-0001-Waist Bracket.PDF
  2. TA00-03-0002-Front Blind Spot Camera Bracket.PDF
  3. TA00-03-0003-Side Swing Motor Bracket.PDF
  4. TA00-03-0004-Front Swing Motor Bracket.PDF
  5. TA00-03-0005-Waist Support Shaft.PDF
  6. TA00-03-0006-Positioning Pin.PDF
  7. TA00-03-0007-Positioning Pin Handle.PDF
  8. TA00-03-0008-Rear Blind Spot Camera Bracket.PDF
  9. TA00-03-0009-Turnover Fixing Plate.PDF

• TA00-04-00-Chest System Provides the hardware design for the robot's chest area, including the layout of sensors and the main control module.

  1. TA00-04-0001-Front Chest Frame - Drawing 1.PDF
  2. TA00-04-0002-Hook (Right) - Drawing 1.PDF
  3. TA00-04-0003-Hook (Left) - Drawing 1.PDF
  4. TA00-04-0004-Radar Adapter Plate - Drawing 1.PDF
  5. TA00-04-0005-WiFi Heat Dissipation Plate - Drawing 1.PDF
  6. TA00-04-0006-Switch Fixing Part - Drawing 1.PDF
  7. TA00-04-0007-Main Control Fixing Part - Drawing 1.PDF
  8. TA00-04-0008-Main Control Fixing Part (Sub) - Drawing 1.PDF
  9. TA00-04-0009-Cloud Box Support Plate - Drawing 1.PDF
  10. TA00-04-0010-Battery Fixing Plate - Drawing 1.PDF
  11. TA00-04-0011-Battery Fixing Plate (Sub) - Drawing 1.PDF
  12. TA00-04-0012-Surround Fixing Part (Rear) - Drawing 1.PDF
  13. TA00-04-0013-Surround Fixing Part (Rear Mirror) - Drawing 1.PDF
  14. TA00-04-0014-Surround Fixing Part (Front) - Drawing 1.PDF
  15. TA00-04-0015-Surround Fixing Part (Front Mirror) - Drawing 1.PDF
  16. TA00-04-0016-Rear Bracket - Drawing 1.PDF
  17. TA00-07-0001-Cylindrical Base - Drawing 1.PDF

• TA00-07-00-Head Perception System Designs the robot's head perception system, integrating and controlling modules for vision, hearing, touch, smell, and movement.

  1. TA00-07-01-0003.PDF
  2. TA00-07-01-0004.PDF
  3. TA00-07-01-0005.PDF
  4. TA00-07-01-0006.PDF
  5. TA00-07-01-0007.PDF
  6. TA00-07-01-0008.PDF
  7. TA00-07-01-0009.PDF
  8. TA00-07-01-0010.PDF
  9. TA00-07-01-0011.PDF
  10. TA00-07-01-0012.PDF
  11. TA00-07-01-0013.PDF
  12. TA00-07-01-0014.PDF
  13. TA00-07-01-0015.PDF

• TA00-12-00-Leg and Foot System Describes the design and motion control of the robot's legs and feet, providing extensive mobility and flexible gait.

  1. TA00-12-00-0001 Knee Joint Pin
  2. TA00-12-00-0002 Knee Joint Pin Locking Screw.pdf
  3. TA00-12-00-0003 -A1 Link Pin C.pdf
  4. TA00-12-00-0004 Link Bushing B.pdf
  5. TA00-12-00-0006 Ankle Pitch Axis.pdf
  6. TA00-12-00-0007 Ankle Pitch Axis B.pdf
  7. TA00-12-00-0011 Ankle Pitch Axis Washer.pdf
  8. TA00-12-00-0012 Ankle Pitch Axis Locking Screw.pdf
  9. TA00-12-00-0013 Cross Pitch Axis.pdf
  10. TA00-12-00-0014 Cross Side Swing Axis.pdf
  11. TA00-12-00-0015 Cross Side Swing Axis Bushing.pdf
  12. TA00-12-00-0016 Foot Joint Locking Screw.pdf
  13. TA00-12-00-0017 Cross Pitch Axis.pdf
  14. TA00-12-00-0018 Knee Joint Bearing Washer.pdf
  15. TA00-12-01-0001 -A1 Hip Joint Turnover Motor Connector.pdf
  16. TA00-12-01-0002-A1 Hip Joint Turnover Motor Connector B.PDF
  17. TA00-12-01-0003-A1 Turnover Motor Bearing Stopper.pdf
  18. TA00-12-01-0004 Front Swing Alignment Part.pdf
  19. TA00-12-02-0001-A1 Hip Joint Pitch Motor Flange.pdf
  20. TA00-12-02-0002-A1 Pitch Motor Support Frame.pdf
  21. TA00-12-02-0003-A1 Right Thigh Bracket.pdf
  22. TA00-12-02-0004 Knee Joint Motor Joint Shaft.pdf
  23. TA00-12-02-0005 Bearing Locking Screw.pdf
  24. TA00-12-02-0006-A1 Bearing Steel Sleeve.pdf
  25. TA00-12-02-0007-A1 Rocking Arm.pdf
  26. TA00-12-02-0008 Link Pin.pdf
  27. TA00-12-02-0009 Link Locking Screw B.pdf
  28. TA00-12-02-0010 Link.pdf
  29. TA00-12-02-0011 Link Bushing.pdf
  30. TA00-12-02-0012 Support Shaft B.pdf
  31. TA00-12-02-0015 Hip Joint Pitch Limit Flange.pdf
  32. TA00-12-04-0001-A1 Right Lower Leg Bracket.pdf
  33. TA00-12-04-0002-A1 Lower Leg Curve.pdf
  34. TA00-12-04-0003 Lower Leg Pull Rod A.pdf
  35. TA00-12-04-0004 Lower Leg Pull Rod C.pdf
  36. TA00-12-04-0005-A1 Right Lower Leg Lower Limit.pdf
  37. TA00-12-04-0006-A1 Right Lower Leg Upper Limit.pdf
  38. TA00-12-06-0001 Foot Body.pdf
  39. TA00-12-06-0002 Foot Bottom Rear Rubber Pad.pdf
  40. TA00-12-06-0003 Foot Bottom Front Rubber Pad.pdf
  41. TA00-12-06-0004 Foot Bottom End Cap.pdf
  42. TA00-12-06 Foot Assembly.pdf

• QingLoong Full-Size Universal Humanoid Robot Hardware Open-Source Content.PDF

  Open-source content technical documentation

Key Features

• Highly Bionic Design The QingLoong robot adopts a highly bionic joint configuration, simulating the range of human joint motion with 43 degrees of freedom, capable of performing complex motion tasks.
• Dexterous Hands The robot is equipped with highly dexterous humanoid hands, with each finger featuring multiple degrees of freedom for precise gripping operations.
• Perception System The robot is equipped with a 3D LiDAR, depth cameras, and surround cameras, supporting full environmental perception and autonomous navigation.
• Mobility The robot is capable of fast walking, agile obstacle avoidance, and stable uphill and downhill movement, adaptable to a variety of complex environments.

Technical Specifications

• Dimensions: 2192mm * 1850mm * 300mm
• Weight: 80kg
• Degrees of Freedom: 43
• Walking Speed: ≥5km/h
• Payload Capacity: ≥20kg
• Battery Life: ≥3 hours
• Control and Perception Computing Power: Maximum 400 TOPS

Hardware Design and Control

The robot utilizes the EtherCAT bus system for high real-time performance and reliability, efficiently controlling the movement of each joint. Additionally, the robot is equipped with a high-precision motion control computer and multiple sensors to support autonomous decision-making and operations.

Open-Source Content Usage Instructions

All design files and drawings are open-source, and you are free to use, modify, and optimize them. We encourage community members to participate in further research and development of the robot, promoting technological progress.

How to Use

1. Download and unzip the compressed file.
2. Follow the drawings and documents in the directory for hardware assembly.
3. Use the accompanying control system and sensors for software integration and debugging.

Disclaimer

The designs and files in this project are for technical learning and research purposes only. Any commercial use of these materials must comply with relevant laws and regulations. We do not assume any responsibility for any issues arising from the use of these files.

---

I’ve ensured that the translation aligns with technical terms typically used in robotics and mechanical engineering. Let me know if you'd like further adjustments or clarifications!