The design of a humanoid robotic research platform

A novel humanoid robotic research platform is presented with a total of 38 degrees of freedom (DOF), incorporating EtherCAT for real-time control, GPU-based high-performance computing for vision, motion tracking and inference, and large language model (LLM) reasoning for voice-based interaction. Building on a torso, two 6-DOF arms, and five-finger hands, the system demonstrates robust manipulation, intuitive voice commands, and extensibility toward bipedal locomotion. Preliminary tests demonstrate stable real-time performance, reliable AI-driven dialogue, and dexterous end-effector function for up to 1 kg loads. This platform aims to serve as a foundation for future research in humanoid robotics.