This repository contains the development progress for creating an open-source implementation of Reachy Mini, as the official version has not been fully released as open source yet (as of July 20, 2025).
This project aims to build a comprehensive control system for Reachy Mini through modular development, focusing on four main components:
- Head Control via Stewart Platform
- Antenna Control
- Full Body Rotation Control
- Camera Module Control
The head movement control is implemented using a pre-calculated pose-based motor rotation method. This approach utilizes inverse kinematics calculations to determine the precise motor positions required for desired head orientations.
Tools/stewart_platform_simulator.py is the upper image Script is built upon the Stewart.js
🚧 In Progress - Core inverse kinematics implementation completed, motor integration in development
🔄 Planned - Development scheduled after head control completion
🔄 Planned - Development scheduled after antenna control completion
🔄 Planned - Final component to be implemented
MIT License
- Stewart.js: Original JavaScript implementation of Stewart Platform inverse kinematics
- Pollen Robotics: Original creators of Reachy Mini
Note: This is an independent open-source implementation and is not officially affiliated with Pollen Robotics.