#UCLA RoMeLa (1)

PhoneBot: A Low-Cost Open Humanoid Robot Platform Reusing Smartphones

PhoneBot is a roughly 400-dollar open-source 13-DoF bipedal platform that reuses a commodity smartphone as its IMU, camera and onboard computer. A torque-aware DYNAMIXEL XL430 actuator model in MJX, combined with sagittal-mirrored PPO, yields balanced walking, standup and camera-heading policies that run entirely on old or prepaid Android phones.