docs/
Additional design notes, decision records, and reference material for Free Humanoid Centaur, beyond the canonical README.md, ARCHITECTURE.md, and CONTRIBUTING.md at the root.
This directory will hold:
- Architectural decision records (ADRs). One file per resolved TBD. Each ADR cites the corpus entries that shielded the decision and links into ARCHITECTURE.md §9. Open TBDs at v0.1: cycloidal vs. harmonic-drive at the leg joints; wheel-foot final diameter; per-leg battery distribution; suspension-arm vs. hard-mount at the hip yaw mount.
- Wheel-leg-hybrid foot mechanism notes. Detailed mechanical-design notes on the largest novel-engineering piece. Wheel selection, motor sizing, brake mechanism, IP67 sealing, tread for dual-mode operation. Cross-linked to base/.
- Mode-transition protocol notes. Detailed runtime-protocol-level documentation for the mode-transition state machine, the supervisor’s mode-transition gate invariant, and the integration with the dual-mode locomotion controller.
- Mission-integration notes (dock-A). Detailed protocol-level documentation for the shoal cartridge-swap, waste-hopper retrieval, and biology-reservoir handshake at dock-A. Cross-linked to clean_fish/ARCHITECTURE.md §3.2.
- Operational concept. Day-in-the-life of a deployed centaur at a wetland dock-A site — work-order intake, transit (wheel mode on access road, leg mode through wetland), dock approach, cartridge-swap, biology-reservoir status, return-transit, fleet-coordination idle.
- Indigenous and community consent protocol notes. Same posture as
clean_fish ARCHITECTURE §9 and both siblings, with wetland-and-rural-deployment-specific elaboration.
- Recommended corpus additions. Tracked here:
centaurs-greek-myth for the morphology’s mythological anchor; dedicated bigdog and alphadog entries for the load-carrying quadruped class.
- Open questions. Tracked TBDs from ARCHITECTURE.md and any new questions raised by Phase 1 simulation.
Cross-references
Status
v0.1 scaffold. ADRs are written as TBDs are resolved.