Conclusion

We spent two years building a humanoid robot from zero to one in our spare time. We hope this project can serve as a reference case for beginners and for practitioners who want to build humanoid robots.

We would like to thank Professor Liu Li for her strong support of this project, all THMOS team members for their contributions, and XPeng for sponsorship funding. The main designers of each module are listed below:

• Chief designer: Zhenghao Qi
• Mechanical design: Jinyin Zhou, Zhenghao Qi, Zhiqiang Yu, Jiapeng Lin
• Electrical design: Ju Wang, Zhenghao Qi
• Communication design: Shaoyin Luo, Zhenghao Qi
• Motion control: Zhenghao Qi, Jinyin Zhou

We also thank the other students who contributed to this project. Additional contributors include:

• Mechanical design: Teacher Li Qiwen, Shuoquan Wang, Warwick, Paul, Zhizhou Qu, Changhao You, Keira
• Electrical design: Robin, Shuoquan Wang
• Communication design: Shibo Xia
• Motion control: Zhuoheng Wang

We will continue improving the MOS9 system and gradually refine the design.