Overview

Asimov is an open-source humanoid robot. This documentation covers everything you need to build, program, and run it.

What’s Here

  • Software - Two processes run on two boards. The firmware handles motors and balance. The manager handles cameras, audio, and network.

  • Hardware - 27 DOF (12 leg motors enabled), dual compute boards, IMU, cameras.

  • Locomotion - RL-based walking policy. Send velocity commands, it walks.

  • Manipulation - Arm control (coming soon).

Quick Start

Send a command to make the robot stand:

import socket
from asimov_command_pb2 import RobotCommand, ControlMode

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
robot = ('192.168.1.100', 8888)

cmd = RobotCommand()
cmd.mode = ControlMode.CONTROL_MODE_STAND
cmd.enable = True
sock.sendto(cmd.SerializeToString(), robot)

See Quick Start for the full walkthrough.

Next Steps

Contributing

We welcome contributions. Open a PR or file an issue on GitHub.

Contact

Questions? Open an issue or join the Discord.