free-humanoid-centaur

base/

The quadruped-base subsystem — the morphology-distinguishing work for Free Humanoid Centaur.

This directory will hold:

• Mechanical CAD for the chassis (~1.2 m × 0.8 m × 0.25 m IP67-rated aluminum monocoque), the four leg subassemblies (3-DoF cycloidal-reduction at hip-yaw / hip-pitch / knee-pitch), the wheel-leg-hybrid foot mechanism (~150 mm wheel, QDD direct-drive, electromagnetic brake for leg mode), and the battery-module bays. FreeCAD or OpenSCAD source per the open-tooling buildability check in CONTRIBUTING.md.
• Leg subassembly drawings — pinned vendor part numbers for cycloidal reducers, BLDC motors, leg-link aluminum extrusions, encoder mounts.
• Wheel-leg-hybrid foot mechanism — wheel selection, motor sizing, brake mechanism, IP67 sealing, tread for paved + mud / wetland traction. This is the largest novel piece of original engineering flagged in ARCHITECTURE §5.
• Battery-bay mechanical interface — single-module-at-a-time hot-swap mating geometry, three-module geometry. Inherits the CC0 commons spec from the wheeled sibling’s commitment #4.
• IP67 sealing across all leg joints — for wetland deployment. Maintainability for field service is a load-bearing constraint.

Cross-references

• Architectural argument: ARCHITECTURE §2.1 Form factor, §2.2 Quadruped base
• Corpus shielding: prior-art/INDEX.md Subsystem 1, 2
• Descriptor encoding: descriptor/free-humanoid-centaur.udd.json — the chassis, *_hip_yaw_link, *_thigh_link, *_shank_link, *_wheel_foot, and battery_module_* links and their joints.

Status

v0.1 scaffold. Detailed CAD is the Phase 1 / Phase 2 deliverable, gated on the architectural-call resolution for cycloidal vs. harmonic-drive at the leg joints and the wheel-foot final geometry. The wheel-leg-hybrid foot is the priority Phase 2 prototype subassembly per ARCHITECTURE §6.

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