Skip to content

Latest commit

 

History

History
58 lines (34 loc) · 1.85 KB

README.md

File metadata and controls

58 lines (34 loc) · 1.85 KB

Reachy Mini Open Source Project

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).

reachy mini communication system

Project Overview

This project aims to build a comprehensive control system for Reachy Mini through modular development, focusing on four main components:

  1. Head Control via Stewart Platform
  2. Antenna Control
  3. Full Body Rotation Control
  4. Camera Module Control

1. Head Control via Stewart Platform

Stewart Platform Simulator

Approach

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.

Development Status

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

2. Antenna Control

🔄 Planned - Development scheduled after head control completion

3. Full Body Rotation Control

🔄 Planned - Development scheduled after antenna control completion

4. Camera Module Control

🔄 Planned - Final component to be implemented

License

MIT License

Acknowledgments

  • 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.