Humanoid Quest Book

These are the objectives for the Spring/Summer 2025 term. Blog posts / documention should be added for each component, giving a +2 to the section.

Software

Score	Description
20/20	Full system completed: Sensor Imitation, URDF Automation, Inverse Kinematics / PID Control, and initial Reinforcement Learning (RL) development.
17/20	All components complete except initial RL development.
15/20	Sensor Imitation, URDF Automation, and Inverse Kinematics / PID Control implemented; minor integration issues remain.
10/20	Sensor Imitation and URDF Automation complete, but no control components working yet.
5/20	One or two major components completed; others in development.
3/20	System partially started; most tasks still in development.
0/20	No visible progress made.

Score /25	Criteria
+10	Movement API for Physical system
	5/5 Movement API with teleop and VR control implemented
	4/5 Movement API with teleop control implemented
	1-3/5 Movement API being developed
	0/5 No progress
+5	Simulation API Integration
	5/5 Movement API is fully compatible with simulation
	3/5 Movement API currently being integrated with simulation
	0/5 No progress
+5	Voxal Grid
	5/5 Implemented, integrated with controller
	3/5 Implemented, controller ingratiation needed
	1-3/5 Development
+5	System localization / Initialization
	5/5 System implemented for getting initial state of the robot
	3/5 Manual system initialization
	0/5 No progress

Score	Criteria
+5	Object detection - inital basic object detection with 3D object detections
+5	Keyboard specific objected detection and localization
+5	Material Classification - inital development and research
+5	Publishing filtered RGBD data

Score /20	Criteria
+4	CAN Package management system developed
+4	Deployment System built to support system scaling
+4	Sensor filtering / denoising implement
+4	SLAM inital research
+4	Sensor Drivers - Sensor drivers integrated, exposing sensor data to system

Score	Criteria
+5	Sensor data collected and sent over CAN
+5	Finger position data consistently maintained when running
+3	Embedded devices run tension control loop with current draw feed back
+2	Flashing STM32 firmware with ESP32 implemented
+3	Move fingers to set positions via PID controls
+2	Embedded devices process CAN messages
0/20	No progress

Criteria /20	Requirements
+2	Mechanical (Finger Actuation, Forearm integration/mounting)
+3	Motor Control (Current Sense, Motor Movement, Magnetic Encoder feedback)
+2	Communication (I2C, SPI, WIFI, CAN-FD)
13/20	Mechanical enclosure for PCB and motors designed & printed
10/20	Custom PCB created, ordered, shipped & delivered
0/20	No Progress

Criteria /20	Requirements
20/20	Hand is fully integrated into software: URDF Created & CAD lines up w/ real life model
+4	Hand is fully integrated with Forearm:
	4/4: Mechanically mounted & wires routed (no pinching!)
	3/4: Mechanically mounted
+4	Palm meet all requirements:
	4/4: Fingers & Thumb are tested & integrated into palm
	2/4: Palm prototype is manufactured
	1/4: Palm prototype is designed
	0/4: No Progress
+4	Fingers meet all requirements:
	4/4: Finger is integrated into palm
	3/4: Finger is tested
	2/4: Finger prototype is manufactured
	1/4: Finger prototype is designed
	0/4: No Progress
+4	Thumb meet all requirements:
	4/4: Thumb is integrated into palm
	3/4: Thumb is tested
	2/4: Thumb prototype is manufactured
	1/4: Thumb prototype is designed
	0/4: No Progress

Criteria /10	Requirements
+4	Sensors integrated into mechanical design
+4	Sensors tested & integrated (able to communicate, test rig + procedure setup and used, integrated into traincar)
2/10	Sensors purchased
1/10	Sensor categories identified & researched
0/10	No Progress

Criteria /40	Requirements
40/40	Forearm ready for Demo (finger & wrist actuation)
35/40	Forearm integrated & assembled with Hand
30/40	Forearm manufactured & assembled with Traincar
+2	Wrist motors purchased
+8	Forearm CAD + URDF Complete
+8	Wrist CAD + URDF Complete
2/50	Design requirements & constraints specified (rated load, material/manufacturing method, DoF)
0/50	No Progress

Criteria /15	Requirements
+10	Mechanical meets requirements:
	10/10 Mechanical Design finished with parts ordered
	8/10 Mechanical Design finished with final integrations left
	0-5/10 Mechanical Design in progress
+5	Motors:
	5/5 Motors integrated with design
	3/5 Motors sourced and purchase
	2/5 Required motor specifications calculated
0/15	No progress

Building out the mount for the arms and the cameras

Criteria /10	Requirements
10/10	Power system designed and built with interfaces with system components
7/10	System design complete, parts purchased and installed
5/10	System design complete and part selection complete
2/10	System design complete
0/10	No progress

Criteria /10	Requirements
10/10	Body built with aesthetic design, integrated into system
7/10	Body built with mounts for system
5/10	Body design complete
2/10	Body design in progress
0/10	No progress

Quest Name	Description	Due Date	Score
Software - Simulation	One or two major components completed; others in development.	2025-08-31	5/20
Software - Behaviour	No progress	2025-08-31	0/25
Software - Perception	Basic simulation up, simple RL models trained.	2025-08-31	5/20
Software - Interfacing	SLAM initial research begin	2025-08-31	4/20
Software - Embedded	Sensors are integrated, free rtos setup	2025-08-31	7/20
Hand - Traincar	Custom PCB created, ordered, shipped & delivered	2025-08-31	10/20
Hand - Mechanical	Thumb, finger, palm prototype is manufactured	2025-08-31	6/20
Hand - Sensors	Sensor categories identified & researched	2025-08-31	1/10
Forearm	Wrist motors purchased, initial CAD complete	2025-08-31	12/40
Arm	Intitial prototype built	2025-08-31	15/15
Body - Power Systems	Power system designed and built with interfaces with system components	2025-08-31	3/5
Body - Mechanical	Body built with aesthetic design, integrated into system	2025-08-31	9/20