AERY Humanoid Robot

AERY is an intelligent upper-body humanoid robot designed for industrial automation and warehouse operations, including material handling, inventory inspection, sorting, packaging, and production-line tasks.

I worked on the design and development of the robot across multiple engineering domains, including:

⚙️ Mechanical Engineering

Designed the robot structure, joints, and mechanisms from scratch using SolidWorks.

Developed custom planetary gearboxes for NEMA 17 and NEMA 23 stepper motors.

Designed a 24-DOF upper-body robotic platform.

Designed 3D-printed structural components using PETG.

Developed custom housings for the stepper motor drivers.

🔌 Embedded Systems & Electronics

Designed custom PCBs for motion and servo control.

Developed an Arduino Mega-based Motion Board for stepper motor control and encoder feedback.

Integrated 10× AS5600 magnetic encoders through 2× TCA9548A I²C multiplexers.

Designed a custom ESP32-based Servo Control Board for 16 servo channels.

Worked with DM542 and TB6600 stepper drivers.

🤖 Robotics & Control

Implemented the robot's motion-control architecture for steppers and servos.

Developed position-feedback systems using magnetic encoders.

Designed the hardware architecture around the robot's high-load joints and multi-actuator system.

🧠 AI, Computer Vision & ROS

Integrated a 3D depth camera for perception and object detection.

Developed the software architecture around ROS, computer vision, and intelligent decision-making.

Designed the system toward autonomous industrial and warehouse applications.

The project combines mechanical design, embedded systems, electronics, robotics, computer vision, and software integration into one complete robotic platform.

Tools & Technologies:

SolidWorks · KiCad · ESP32 · Arduino Mega · ROS · Python · C/C++ · AS5600 · TCA9548A · PCA9685 · NEMA 17/23 · DM542 · TB6600 · PETG 3D Printing