PolyBot G1v5, 15 modules in a humanoid configuration.

This version took the learning from building the G2 and G3 versions further. It is more reliable than the G2 and G3 versions, and more robust than any of the other G1 versions. This comes primarily from using more robust servos with more reliable output stages. Other improvements over the G1v4 version include:

• 36 volt bus with onboard DC-DC converters (to allow chaining up to 100 modules from one power supply)
• Swappable battery/ DC-DC converter component
• Robust screw together module connections
• Increased torque servos
• RS485 serial communications
• Autocalibration using limit switches

G1v5 Demonstrations

• Humanoid standing
• Humanoid walking
• Humanoid summersault
• Gambling Robot
• Sensor-based Reconfiguration
• Tutorial at IROS03