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CASTOR (CompliAnt SofT RobOtics) is an open-source humanoid robot designed for multifunctionality and adaptability in human-robot interaction research. This wiki serves as a comprehensive guide for replicating and working with the CASTOR robot.
CASTOR is a cutting-edge robotics platform that combines advanced hardware components with a flexible software architecture. It's designed to be accessible, replicable, and adaptable for various research purposes in the field of human-robot interaction.
- Expressive face with OLED screens and servo-controlled features
- Advanced vision system using OpenMV H7 Plus camera
- Modular design for easy customization and upgrades
- ROS-based software architecture for robust control and interaction
To begin working with CASTOR, please refer to the following guides:
- Booting the Robot
- Connecting the Robot Network Interface
- Components Used
- Errors and Fixes
- Software-Backups
CASTOR's software is built on the Robot Operating System (ROS) framework. The system consists of two main components:
-
CASTOR (Raspberry Pi):
- ROS core
- Main node (orchestrator)
- System management node
- Web interface
- Eyes control node
- Speakers control node
- Motor management node
- Facial motor control node
-
Desktop (PC):
- OpenMV node for vision processing
CASTOR's hardware setup includes:
- OLED screens for expressive eyes
- Servo motors for facial expressions
- Dynamixel motors for neck and arm movements
- OpenMV H7 Plus camera for vision
- Custom power distribution board
- Elastic filament tensioning system for joint stability
We've developed a new Python script to enhance the expressiveness and synchronization of CASTOR's facial movements. This script introduces functions for controlling eyebrows and mouth movements, resulting in more natural and engaging expressions.
The integration of the OpenMV H7 Plus camera has significantly improved CASTOR's vision capabilities. The new system enables real-time face detection and tracking, enhancing the robot's ability to interact with humans.
For common issues and their solutions, please refer to our Errors and Fixes page. If you encounter any problems not covered there, please open an issue on this repository.
We welcome contributions to the CASTOR project! Whether you're improving documentation, adding new features, or fixing bugs, your input is valuable. Please read our Contributing Guidelines before submitting your changes.
The CASTOR project is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License based on a work at https://doi.org/10.3390/act9030091
CASTOR is a collaborative effort, building upon the work of many researchers and developers in the field of robotics. We extend our gratitude to all contributors and to the open-source community that makes projects like this possible.
For more detailed information on the original CASTOR project, please visit the main CASTOR GitHub repository.