High Torque Robotics Mini π – A Orange Pi 5 based Bipedal Robot with Model Predictive Control

High Torque Robotics Mini π is a 54cm tall bipedal robot built around the Orange Pi 5 SBC with Rockchip RK3588S for better performance and control. The robot has 12 degrees of freedom(DOF) with 12 custom joint motors, allowing it to walk, dance, run, jump, and flip. Designed for research and education, it supports advanced algorithms like ZMP(zero moment point), MPC(Model Predictive Control), reinforcement learning, and ROS SLAM for navigation.

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High Torque Robotics Mini π Specification:

• SBC: Orange Pi 5
  • SoC: Rockchip RK3588
  • CPU: Octa-core with 4x Cortex-A76 cores (up to 2.4 GHz) and 4x Cortex-A55 cores (up to 1.8 GHz)
  • GPU:  Arm Mali-G610 MP4, supports OpenGL ES1.1/2.0/3.2, OpenCL 2.2, Vulkan 1.2
• Control Board: Independently developed board with 4 CAN buses each supporting a maximum baud rate of 5Mbps for FD-CAN
• Joint Motor: 
  • 8x HTDW-5047-36-NE with gear ratio: 36, 16Nm peak torque
  • 4x HTDW-4438-32-NE with gear ratio: 32, 6Nm peak torque
• Movement speed: 1.5 m/s
• Jump Distance: up to 2 cm
• Payloads: 5 kg
• Degree of Freedom: 6 DoF per leg
• Sensors: High-Performance IMU
• Number of Battery: 1
• Working Voltage: 24V
• Standing height: 542 mm
• Weight: 7 kg with battery

High Torque Robotics said the Mini π comes with a robot test stand and trolley case. For more details, visit the Hackster.io project page. There, you can find the schematic, locomotion control algorithm code, and more information about the joint motors. High Torque Robotics says the robot is open-source, and the algorithm is simulated and verified on the 12 DOF Mini π. The open-source code is available on GitHub.

High Torque’s official page offers three distinct Mini π robot configurations. The “Basic Configuration of Motion Control Board” is available in two options, priced at $7,600.00 and $8,711.00 respectively. For those seeking advanced capabilities, the “Perception Version Configuration (Orin + Main Control + IMU)” comes equipped with additional features and is priced at $11,950.00.

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