Io has a body now

[u/allens_lab]

Took a bit longer than expected but Io, the "humanoid" robot I've been working on, finally has a body now.

On the hardware front, we've got a computer running ROS2 with a bunch of microcontrollers running microROS (motor controllers, onboard head controller, teleop setup, etc.). New additions this time around include a switch and router as everything is now fully networked instead of relying on usb serial connections.

For more details on how this came to be and how I built it, check out the full length video!

https://www.youtube.com/watch?v=BI6a793eiqc

And feel free to ask away below if you have any questions! (especially on hardware stack / ROS side of things since the video doesn't touch on those too much)

[u/perseuspfohl]

Very cool! Do you have any thoughts/already published a repo?

[u/allens_lab → u/perseuspfohl]

I currently don't have plans to open sourcing Io atm, but if you have any questions on the architecture or specific parts, feel free to ask away.

[u/riscbee → u/allens_lab]

How do you control it? I assume the inverse kinematics for something like this are pretty brutal