plurigrid K-Bot Humanoid Skill
Trit: -1 (MINUS - specification/verification) Color: #5B45C2 (Purple) URI: skill://kbot-humanoid#5B45C2
Overview
K-Bot is K-Scale Labs' flagship humanoid robot platform. This skill covers hardware specifications, MJCF model configurations, and deployment workflows.
Robot Specifications
┌────────────────────────────────────────────────────────────────┐
│ K-BOT HUMANOID │
├────────────────────────────────────────────────────────────────┤
│ │
│ Height: ~1.4m │
│ Weight: ~30kg │
│ DOF: 20+ joints │
│ │
│ Actuators: │
│ ├── Robstride motors (custom driver) │
│ ├── Position/velocity/torque control │
│ └── ~40 Nm peak torque per joint │
│ │
│ Sensors: │
│ ├── IMU (6-axis) │
│ ├── Joint encoders │
│ ├── Cameras (RGB) │
│ └── Force sensors (feet) │
│ │
│ Compute: │
│ ├── Onboard: Jetson/custom │
│ └── Inference: Policy runs at 50-100 Hz │
│ │
└────────────────────────────────────────────────────────────────┘
MJCF Model
<!-- kbot.mjcf excerpt -->
<mujoco model="kbot">
<compiler angle="radian" meshdir="meshes"/>
<default>
<joint damping="0.5" armature="0.01"/>
<geom friction="1 0.005 0.001" condim="3"/>
</default>
<worldbody>
<body name="torso" pos="0 0 1.0">
<freejoint name="root"/>
<geom type="mesh" mesh="torso"/>
<!-- Legs -->
<body name="hip_l" pos="0 0.1 0">
<joint name="hip_yaw_l" type="hinge" axis="0 0 1"/>
<joint name="hip_roll_l" type="hinge" axis="1 0 0"/>
<joint name="hip_pitch_l" type="hinge" axis="0 1 0"/>
<!-- ... -->
</body>
<!-- Arms -->
<body name="shoulder_l" pos="0 0.2 0.4">
<joint name="shoulder_pitch_l" type="hinge" axis="0 1 0"/>
<joint name="shoulder_roll_l" type="hinge" axis="1 0 0"/>
<!-- ... -->
</body>
</body>
</worldbody>
<actuator>
<position name="hip_yaw_l_pos" joint="hip_yaw_l" kp="100"/>
<position name="hip_roll_l_pos" joint="hip_roll_l" kp="100"/>
<!-- ... -->
</actuator>
</mujoco>
Deployment Pipeline
┌─────────────┐ ┌─────────────┐ ┌─────────────┐ ┌─────────────┐
│ KSIM │───▶│ Policy │───▶│ KOS │───▶│ K-Bot │
│ Training │ │ Export │ │ Firmware │ │ Hardware │
└─────────────┘ └─────────────┘ └─────────────┘ └─────────────┘
│ │ │ │
▼ ▼ ▼ ▼
PPO/AMP in ONNX/JIT gRPC actuator Real robot
MJX sim conversion commands execution
Training with KSIM
from ksim.robots.kbot import KBotConfig
from ksim import PPOTask
class KBotWalking(PPOTask):
robot = KBotConfig(
model_path="kbot-headless.mjcf",
joint_names=KBotConfig.DEFAULT_JOINTS,
actuator_config={
"kp": 100.0,
"kd": 10.0,
"torque_limit": 40.0,
}
)
GF(3) Triads
kbot-humanoid (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
kbot-humanoid (-1) ⊗ topos-generate (+1) ⊗ ksim-gym (0) = 0 ✓
Related Skills
ksim-rl(-1): RL training for K-Botkos-firmware(+1): Firmware for K-Bot deploymentzeroth-bot(-1): Smaller 3D-printed platformevla-vla(-1): VLA for manipulation tasks
References
@misc{kbot2024,
title={K-Bot: Open-Source Humanoid Robot Platform},
author={K-Scale Labs},
year={2024},
url={https://github.com/kscalelabs/kbot}
}
SDF Interleaving
This skill connects to Software Design for Flexibility (Hanson & Sussman, 2021):
Primary Chapter: 10. Adventure Game Example
Concepts: autonomous agent, game, synthesis
GF(3) Balanced Triad
kbot-humanoid (○) + SDF.Ch10 (+) + [balancer] (−) = 0
Skill Trit: 0 (ERGODIC - coordination)
Connection Pattern
Adventure games synthesize techniques. This skill integrates multiple patterns.