Duke Humanoid v1 specs

Caveats · stated by the package

• Duke Humanoid v1 is legs only (10 DOF) with a box body, and it is tethered: power comes from four 48 V bench supplies and compute is an external Linux PC over EtherCAT. There is no battery and no onboard compute (a Jetson is optional).
• No prices anywhere upstream. The BOM.xlsx and the Notion table list sources only, so every line is unpriced.
• Motors and motor controllers come only from Motorevo (motorevo.cn) by quote. Controller part numbers are not given; the wiki shows they are Elmo-based EtherCAT drives configured in Elmo Application Studio.
• The Notion page's per-body list disagrees with the BOM table on the 2020 extrusions: 4x 260 mm (b) and 4x 120 mm (c) vs 2x 260 mm and 2x 260 mm. The table is used here.
• The gantry fasteners conflict: the frame list says 400 M8 T-nuts and 400 M8x16 screws, and the table gives 18 packs of 20 and 9 packs of 40 (360 each). The BOM also notes 'We don't suggest this option' on the T-nuts, without an alternative.
• Parts named in assembly but missing from the BOM: the PCB mount, the motor-controller plates and the power/ground splitters. Alignment jig quantities and material are not stated. The use of Task 16 resin ('for molding') is not explained.
• The TCA9548A, resistor, capacitor and retaining ring lines have no vendor link, and the Mean Well supplies are linked only to the datasheet. Sensor-board pin assignments are only in diagram images.
• The wiki links the load-cell code to github.com/generalroboticslab/fx29-load-cell-arduino, which returns 404. The sketch is in teensy_comm.ino.
• No torque values or step times are published; the assembly guidance is mostly video (upper leg, lower leg, body). The wiki reports that small knee and ankle rocker bearings deform and recommends replacing them with circular shafts.
• The wiki links (Notion) and the CNC/DIY zip and Fusion .f3z files are hosted on Notion. The GitHub repos hold only code, URDF and policies. The parent repo is MIT; the Notion CAD has no stated license.
• The hardware-control repo was last updated 2024-10-06 and the parent repo 2025-06-21. The lab published Duke Humanoid V2 repos in Aug-Sep 2026 (duke_humanoid_v2, Apache-2.0; Duke_Humanoid_V2_OpenSource), which this package does not cover.