hardware.md
August 18, 2025 · View on GitHub
Human2LocoMan Hardware
This is an extended documentation of LocoMan hardware setup to include revised or additional hardware for Human2LocoMan.
Bill of Materials
| ID | Part | Description | Price (per unit) | Quantity |
|---|---|---|---|---|
| 0 | Unitree Go1 Robot | Edu version | 1 | |
| 1-8 | DYNAMIXEL XC330-T288-T | Servos for the manipulators | $98.89 | 8 |
| 9 | DYNAMIXEL U2D2 | Convert control signals from PC to servos | $35.31 | 1 |
| 10 | 3P JST Expansion Board | Combine control signal and power to the manipulators | $6.49 | 1 |
| 11 | 100cm 3 Pin JST Cable (5pcs) | Connect manipulators to the expansion board | $6.25 | 1 |
| 12 | 24V to 12V 10A Converter | Convert 24V power from Go1 to 12V for the manipulators | $9.38 | 1 |
| 13 | 30cm XT30 Connector (2pcs) | Connect Go1 power supply to the converter | $8.59 | 1 |
| 14 | 20ft Ethernet Cable | Connect PC to Go1 | $18.99 | 1 |
| 15 | USB Hub | Connect PC to U2D2 and cameras | $13.46 | 1 |
| 16 | Bearings 5x8x2.5mm (10pcs) | Bearings for the rotational gripper | $8.19 | 1 |
| 17 | Dual Lens USB Camera | Main camera for all embodiments (human, unimanual LocoMan, bimanual LocoMan) | $96.99 | ≥2 |
| 18 | USB Camera (optional) | Wrist camera | $80.99 | |
| 19 | Apple Vision Pro (AVP) | Device for data collection | 1 | |
| 20 | Printed parts of loco-manipulators | 3D prints for loco-manipulators of LocoMan (including optional wrist camera mount) | 1 | |
| 21 | Printed parts of the human camera mount | 3D prints for the camera mount on the Apple Vision Pro | 1 | |
| 22 | Printed parts of the camera mount for unimanual LocoMan | 3D prints for the main camera mount on unimanual LocoMan | 1 | |
| 23 | Printed parts of the camera mount for bimanual LocoMan | 3D prints for the main camera mount on bimanual LocoMan | 1 |
Results
Left: Unimanual LocoMan w/ wrist cameras; Middle: Bimanual LocoMan w/o wrist cameras; Right: Camera mounted AVP.