Legion ASI Robotics.
Legion ASI Robotics is developing AS1 as an open-source humanoid robotics platform for embodied AI, distributed control, force sensing, balance, local reasoning, agent memory, bio-displays, and hands-on robotics education. 3D printable parts and build files are coming soon.
AS1 robot
AS1 is not just a robot shell. It is a complete embodied AI research direction: central reasoning, distributed limb control, sensor fusion, force and weight perception, memory systems, visual displays, and a cognitive interface for understanding what the robot is doing.
AS1 is an open-source humanoid robotics research platform designed for education, research, hands-on innovation, 3D printing, and embodied AI experimentation.
The platform combines consumer-grade 3D printing, off-the-shelf hardware, modular electronics, local AI inference, distributed microcontrollers, and ROS 2 communication. Public 3D printable parts are coming soon.
The robot is designed around a central cognitive layer, regional control boards, limb-level reflex loops, force sensing, balance processing, body displays, and agent-driven diagnostics.
The purpose is to study what happens when memory-driven AI must deal with gravity, friction, force, latency, heat, battery limits, and physical consequences.
Interactive viewers
The original AS1 page used frame-based viewers for rotation and walking simulation. This version keeps that feature, cleans the controls, and preloads nearby frames without locking the page.
Scrub through the AS1 rotation frames or play the sequence automatically.
Review AS1 walking frame sequence and gait motion study.
Robotics is where intelligence has to deal with gravity, weight, friction, heat, power, latency, balance, and consequences.
Legion ASI Robotics statementHardware stack
The architecture restores the real AS1 story: Jetson compute, STM32 control, CAN bus, force processing, IMUs, encoders, motors, displays, ROS 2 topics, calibration, and cost planning.
The NVIDIA Jetson Mini Super is treated as the AS1 cerebral cortex, coordinating high-level cognition, perception, ROS 2 messaging, local model inference, telemetry, planning, and interaction.
AS1 uses a body-wide microcontroller network instead of forcing the central processor to handle every physical response. Local MCUs manage limb timing, fast motor loops, safety checks, and fallback behavior.
A dedicated force pathway fuses load cells, force-sensitive resistors, strain gauges, torque sensors, IMUs, and center-of-mass calculations to estimate balance and physical load in real time.
Vision and proprioception work together. Cameras provide external perception, while IMUs, encoders, strain gauges, and current sensors tell the system what the body is experiencing internally.
Major movement uses BLDC motors with field-oriented control and torque multiplication, while precision and compact movements use digital servos, micro servos, harmonic drives, and planetary gearboxes.
AS1 includes local display hardware to show load, torque, joint state, grip strength, battery, alerts, and diagnostic information directly on the body segment where it matters.
AS1 cognitive interface
The old page had a large interface with tabs. This rebuild makes the tabs active, renders data through PHP, and adds animated telemetry and dashboard interaction.
AS1's on-device intelligence layer is based on a quantized 2.5B parameter robotics model intended for untethered operation, task reasoning, and natural language interaction.
The model is optimized for physical control tasks, using proprioceptive embeddings so body position, load, torque, and sensor feedback can become part of reasoning.
AS1 can operate locally while retaining the option to use cloud resources. If disconnected, the system should degrade gracefully to essential local functions.
A specialized reasoning module interprets load, torque, center of mass, and grip data so AS1 can estimate object weight and explain physical interactions.
The perception stack includes robot POV cameras, peripheral cameras, lens assemblies, and HUD overlays for robot-centered visual understanding.
Load cells, FSRs, strain gauges, and torque sensors allow AS1 to measure physical interaction, object handling, and balance changes.
A central BNO085 IMU and distributed ICM-20948 IMUs provide orientation, acceleration, angular velocity, and gravity vector awareness.
Magnetic encoders provide continuous articulation data so AS1 can understand joint angles, posture, movement state, and kinematic positioning.
Regional STM32H7 boards and limb-level STM32G4 boards form a distributed network where body segments can respond locally while staying coordinated.
The power layer routes energy to compute, sensors, motors, displays, and controllers while monitoring current and thermal state across the chassis.
Major joints use BLDC motors with field-oriented control, gear reduction, and driver current sensing.
Medium and small movements are handled by digital servos and micro servos for minor joints, fingers, panels, and compact mechanisms.
AS1 uses local displays to show limb status, load data, joint readings, battery state, and system alerts directly on the robot body.
Structured topics distribute payloads for limb displays, joint displays, global alerts, weight values, and grip strength.
Each display unit can maintain local information flow and fallback LED signaling if the full display manager fails.
Display data can be recorded for performance review, load analysis, and troubleshooting after tests are complete.
Immediate experience buffer
Stores recent sensory input, operator request, task context, and movement state so AS1 can respond to what just happened.
Persistent robot experience
Stores useful prior actions, environment notes, calibration results, recurring objects, maps, and failure history.
Movement and action library
Stores reusable movement sequences, grip strategies, balance responses, and action routines.
Weight and balance history
Stores physical experiences around load, torque, center-of-mass, grip force, object lifting, and posture changes.
Task and communication context
Stores operator preferences, diagnostic patterns, task notes, and reasoning summaries from Legion ASI agents.
Maintenance intelligence
Stores sensor drift, servo strain, battery behavior, temperature history, and fault recovery data.
Jetson compute, controller boards, CAN communication, carrier board, and internal network.
Cameras, IMUs, encoders, load cells, force sensors, torque sensors, and calibration hardware.
BLDC motors, gearboxes, harmonic drives, servos, brackets, bearings, and printable structure.
Battery, BMS, power distribution, voltage regulation, OLED displays, display drivers, and indicators.
Specialized tools beyond common shop equipment.
Average freight and supplier handling allowance.
Replacement parts, alternatives, failed parts, and redesign margin.
Expanded displays, stronger actuation, upgraded sensors, or cosmetic refinements.
The old AS1 cost estimate placed the complete robot with weight sensing, force detection, balance systems, bio-displays, and full capability in the approximate range of $10,363 to $11,763, depending on supplier, selected options, and regional pricing.
| Topic | Label | Description |
|---|---|---|
| /as1/display/global | Global display state | Distributes alerts, warnings, system state, and high-priority body-wide information. |
| /as1/limb_display/armL | Left arm display payload | Object weight, grip strength, torque, and motion state for left arm display. |
| /as1/limb_display/armR | Right arm display payload | Object weight, grip strength, torque, and motion state for right arm display. |
| /as1/joint_display/kneeR | Right knee joint display | Joint torque, temperature, active status, and gait-phase status. |
| /as1/joint_display/kneeL | Left knee joint display | Joint torque, temperature, active status, and gait-phase status. |
| /as1/weight/left_foot | Left foot load data | Calibrated weight, heel-to-toe distribution, and ground contact state. |
| /as1/weight/right_foot | Right foot load data | Calibrated weight, heel-to-toe distribution, and ground contact state. |
| /as1/grip/left_hand | Left hand grip data | Grip force, estimated object mass, contact surface, and release confidence. |
| /as1/grip/right_hand | Right hand grip data | Grip force, estimated object mass, contact surface, and release confidence. |
| /as1/balance/com | Center of mass | Current center-of-mass vector and stability margin estimate. |
| /as1/imu/torso | Torso IMU | Torso orientation, acceleration, gravity vector, and angular velocity. |
| /as1/imu/head | Head IMU | Head orientation, stabilization state, and gaze-frame movement. |
| /as1/vision/pov | Point-of-view camera | Primary robot visual stream and HUD overlay source. |
| /as1/cognitive/log | Cognitive log | Reasoning, diagnostics, agent notes, and operator-readable summaries. |
| /as1/motor/command | Motor command bus | High-level actuator commands routed toward regional controllers. |
| /as1/safety/state | Safety state | Emergency stop, degraded mode, motion lock, and watchdog output. |
| /as1/joint/left_shoulder/state | Left shoulder joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_shoulder/command | Left shoulder joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_shoulder | Left shoulder local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_elbow/state | Left elbow joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_elbow/command | Left elbow joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_elbow | Left elbow local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_wrist/state | Left wrist joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_wrist/command | Left wrist joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_wrist | Left wrist local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_hip/state | Left hip joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_hip/command | Left hip joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_hip | Left hip local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_knee/state | Left knee joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_knee/command | Left knee joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_knee | Left knee local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_ankle/state | Left ankle joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_ankle/command | Left ankle joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_ankle | Left ankle local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_hand/state | Left hand joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_hand/command | Left hand joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_hand | Left hand local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/left_foot/state | Left foot joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/left_foot/command | Left foot joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/left_foot | Left foot local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_shoulder/state | Right shoulder joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_shoulder/command | Right shoulder joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_shoulder | Right shoulder local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_elbow/state | Right elbow joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_elbow/command | Right elbow joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_elbow | Right elbow local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_wrist/state | Right wrist joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_wrist/command | Right wrist joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_wrist | Right wrist local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_hip/state | Right hip joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_hip/command | Right hip joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_hip | Right hip local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_knee/state | Right knee joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_knee/command | Right knee joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_knee | Right knee local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_ankle/state | Right ankle joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_ankle/command | Right ankle joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_ankle | Right ankle local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_hand/state | Right hand joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_hand/command | Right hand joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_hand | Right hand local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/joint/right_foot/state | Right foot joint state | Position, velocity, torque estimate, temperature, current, and health state. |
| /as1/joint/right_foot/command | Right foot joint command | Target position, torque limit, speed limit, motion profile, and safety boundary. |
| /as1/display/right_foot | Right foot local display | Local display payload for health, warning, load, torque, or calibration state. |
| /as1/calibration/checkpoint_01 | Calibration checkpoint 01 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_02 | Calibration checkpoint 02 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_03 | Calibration checkpoint 03 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_04 | Calibration checkpoint 04 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_05 | Calibration checkpoint 05 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_06 | Calibration checkpoint 06 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_07 | Calibration checkpoint 07 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_08 | Calibration checkpoint 08 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_09 | Calibration checkpoint 09 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_10 | Calibration checkpoint 10 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_11 | Calibration checkpoint 11 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_12 | Calibration checkpoint 12 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_13 | Calibration checkpoint 13 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_14 | Calibration checkpoint 14 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_15 | Calibration checkpoint 15 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_16 | Calibration checkpoint 16 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_17 | Calibration checkpoint 17 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_18 | Calibration checkpoint 18 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_19 | Calibration checkpoint 19 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_20 | Calibration checkpoint 20 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_21 | Calibration checkpoint 21 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_22 | Calibration checkpoint 22 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_23 | Calibration checkpoint 23 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_24 | Calibration checkpoint 24 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_25 | Calibration checkpoint 25 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_26 | Calibration checkpoint 26 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_27 | Calibration checkpoint 27 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_28 | Calibration checkpoint 28 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_29 | Calibration checkpoint 29 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_30 | Calibration checkpoint 30 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_31 | Calibration checkpoint 31 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_32 | Calibration checkpoint 32 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_33 | Calibration checkpoint 33 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_34 | Calibration checkpoint 34 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_35 | Calibration checkpoint 35 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_36 | Calibration checkpoint 36 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_37 | Calibration checkpoint 37 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_38 | Calibration checkpoint 38 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_39 | Calibration checkpoint 39 | Structured output from a repeatable calibration or validation step. |
| /as1/calibration/checkpoint_40 | Calibration checkpoint 40 | Structured output from a repeatable calibration or validation step. |
| Test | Phase | Objective | Equipment | Success condition |
|---|---|---|---|---|
| T-001 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-002 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-003 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-004 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-005 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-006 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-007 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-008 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-009 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-010 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-011 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-012 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-013 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-014 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-015 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-016 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-017 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-018 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-019 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-020 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-021 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-022 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-023 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-024 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-025 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-026 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-027 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-028 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-029 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-030 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-031 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-032 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-033 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-034 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-035 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-036 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-037 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-038 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-039 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-040 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-041 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-042 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-043 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-044 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-045 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-046 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-047 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-048 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-049 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-050 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-051 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-052 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-053 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-054 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-055 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-056 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-057 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-058 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-059 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-060 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-061 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-062 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-063 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-064 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-065 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-066 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-067 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-068 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-069 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-070 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-071 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-072 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-073 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-074 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-075 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-076 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-077 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-078 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-079 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-080 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-081 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-082 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-083 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-084 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-085 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-086 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-087 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-088 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-089 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-090 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-091 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-092 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-093 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-094 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-095 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-096 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-097 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-098 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-099 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-100 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-101 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-102 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-103 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-104 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-105 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-106 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-107 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-108 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-109 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-110 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
| T-111 Power bring-up | Bench | Verify regulated 3.3V, 5V, 12V, and motor rails before connecting actuators. | Bench supply, multimeter, thermal camera | No uncontrolled current draw; rails within tolerance. |
| T-112 CAN network test | Subsystem | Confirm each controller appears on the bus and responds to heartbeat messages. | CAN analyzer, firmware console | All expected node IDs respond with stable heartbeat. |
| T-113 Load cell calibration | Integration | Map raw ADC values to known reference weights. | Known weights, HX711 board | Calibrated curve remains stable across repeated measurements. |
| T-114 IMU alignment | Full-body | Validate orientation reference and limb IMU axes. | Motion fixture, known angle block | Axis mapping and gravity vector agree with physical orientation. |
| T-115 Encoder zeroing | Prototype | Set reference positions for every measured joint. | Magnetic encoder console | Joint zero position matches mechanical datum. |
| T-116 Motor driver test | Bench | Verify FOC motor driver response under low torque limit. | Motor fixture, current limit supply | Motor moves smoothly and current remains bounded. |
| T-117 Servo sweep test | Subsystem | Run controlled servo motion across safe range. | Servo tester, controller board | No binding, over-current, or endpoint overshoot. |
| T-118 Display topic test | Integration | Publish sample payloads to display topics. | ROS 2 CLI, display node | Correct display receives correct data with low latency. |
| T-119 Agent diagnostic test | Full-body | Generate operator-readable explanation of a simulated fault. | Legion ASI diagnostic agent | Agent explains issue, likely cause, and next action. |
| T-120 Emergency stop test | Prototype | Verify motor power interruption and software state transition. | E-stop circuit, telemetry log | Motion stops and dashboard reports safe locked state. |
Open-source downloads
AS1 is being organized as an open-source robotics project. The temporary components list is available now as a text download. Printable 3D parts, CAD files, wiring diagrams, firmware, ROS 2 packages, and assembly guides are listed here as public release targets.
Temporary text download listing the AS1 hardware stack, sensors, electronics, tools, and early component notes.
Structured BOM with quantities, vendors, part numbers, estimated cost, priority, notes, and replacement options.
Printable AS1 robot shell, brackets, covers, mounts, display bezels, sensor holders, and prototype body parts.
Editable mechanical assemblies for robotics contributors who want to inspect, remix, or improve the AS1 design.
Recommended prototype print profiles for PETG, PLA+, and nylon carbon fiber parts.
Power distribution, CAN bus wiring, STM32 controller layout, display wiring, and sensor routing diagrams.
Operating system setup, ROS 2 install notes, camera setup, local model configuration, and service startup guide.
Regional controller and limb controller firmware source for distributed motion, sensing, and display communication.
ROS 2 packages, launch files, message definitions, simulated topics, and diagnostic nodes for AS1 development.
Load cell, IMU, encoder, torque sensor, grip force, and balance calibration worksheets.
Step-by-step open-source assembly notes for frame, electronics, sensors, displays, controller boards, and test order.
Early testing checklist for power bring-up, actuator limits, emergency stop behavior, sensor validation, and safe operation.
Components list
For now, the public components list is a simple downloadable text page. The full BOM spreadsheet with vendors, part numbers, replacement options, and priority columns will be released later with the open-source hardware package.
Includes the current AS1 compute, control, sensor, actuation, mechanical, display, power, audio, tooling, calibration, harnessing, safety, and telemetry component categories.
Download components text fileDevelopment program
AS1 is presented as a staged open-source robotics platform: mechanical structure, 3D printable parts, distributed electronics, force-aware sensing, cognitive control, bio-displays, and human-safe autonomy.
The AS1 frame is designed around modular 3D printed structural components, serviceable joints, electronics bays, and a humanoid form factor. Public printable parts are planned so builders can inspect, print, test, and improve the design.
A central Jetson compute unit coordinates regional STM32 controllers distributed through the body, allowing fast local motor response while preserving higher-level cognitive planning.
The robot interprets load cells, torque sensors, strain gauges, IMUs, and encoders to build an internal model of posture, weight distribution, grip force, and center-of-mass stability.
AS1 organizes sensor data, motor commands, diagnostics, display states, and cognitive messages through ROS 2 topics so hardware, software, and agents share one language.
Legion ASI agents provide a higher reasoning layer for diagnostics, planning, task interpretation, memory, and explanation so the robot can describe its own state and assist its own operation.
AS1 is positioned as a research and education platform for embodied AI, machine perception, physical memory, balance control, and practical human-facing robotic intelligence.
Legion ASI Robotics
The robotics program connects hardware, sensors, movement, memory, agent reasoning, display feedback, and alignment into one physical research platform.