Miha: An Affordable Humanoid Platform for Research and Development

Alexandru Sonea; Nicolae Goga; Ramona Cristina Popa; Iuliana Marin; Ioana Petre; Cristian Gheorghe; George Suciu; Victor Suciu

doi:10.1109/ACCESS.2024.3474731

Miha: An Affordable Humanoid Platform for Research and Development

Alexandru Sonea^*, Nicolae Goga, Ramona Cristina Popa, Iuliana Marin, Ioana Petre, Cristian Gheorghe, George Suciu, Victor Suciu

^*Corresponding author for this work

Molecular Dynamics

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Abstract

The current paper introduces Miha, an affordable yet highly performant humanoid platform for research and development. The motivation behind the platform is to significantly lower the costs compared to similar offerings, democratizing access to humanoid robotics research and helping in the standardization of common control functions. The platform offers 22 degrees of freedom smart actuators, pressure sensors, inertial measurement units, stereo cameras, multiple microphones, speakers, and a convenient 2.4-inch liquid crystal display for the on-device user interface. It includes a unique dual hot-swap battery design that allows continuous operation in the field with best-in-class 3-hours autonomy on one charge. The presented version uses a Raspberry Pi Compute Module 4 as the main controller and uses ROS Noetic.We demonstrate several control functions, including walking. The vast majority of hardware and software components are either off-the-shelf or provided as open-source.

Original language	English
Pages (from-to)	150123-150135
Number of pages	13
Journal	IEEE Access
Volume	12
DOIs	https://doi.org/10.1109/ACCESS.2024.3474731
Publication status	Published - 7-Oct-2024

Keywords

Biped
humanoid
robot
robot operating system

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10.1109/ACCESS.2024.3474731Licence: CC BY-NC-ND

Miha: An Affordable Humanoid Platform for Research and DevelopmentFinal publisher's version, 2.84 MBLicence: CC BY-NC-ND

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title = "Miha: An Affordable Humanoid Platform for Research and Development",

abstract = "The current paper introduces Miha, an affordable yet highly performant humanoid platform for research and development. The motivation behind the platform is to significantly lower the costs compared to similar offerings, democratizing access to humanoid robotics research and helping in the standardization of common control functions. The platform offers 22 degrees of freedom smart actuators, pressure sensors, inertial measurement units, stereo cameras, multiple microphones, speakers, and a convenient 2.4-inch liquid crystal display for the on-device user interface. It includes a unique dual hot-swap battery design that allows continuous operation in the field with best-in-class 3-hours autonomy on one charge. The presented version uses a Raspberry Pi Compute Module 4 as the main controller and uses ROS Noetic.We demonstrate several control functions, including walking. The vast majority of hardware and software components are either off-the-shelf or provided as open-source.",

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doi = "10.1109/ACCESS.2024.3474731",

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AU - Popa, Ramona Cristina

AU - Marin, Iuliana

AU - Petre, Ioana

AU - Gheorghe, Cristian

AU - Suciu, George

AU - Suciu, Victor

PY - 2024/10/7

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Miha: An Affordable Humanoid Platform for Research and Development

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