Onboard AI.Distinct responsibilities.

01 / Architecture

Autonomy as a design requirement

I have specified Numero 5 for ordinary autonomous operation, with local processing and no required cloud services. This is a design choice: I am not describing autonomy already demonstrated by the physical robot. Mechanics and electronics still need to come together in complete tests.

I have planned an onboard Mac Studio M2 Ultra with 64 GB of unified memory as the AI server. Its role is to provide processing and vision services to the central controller, separating high-level computation from motion management.

02 / Architecture

The Jetson’s role in the head

For the central controller, I refined my choice to the NVIDIA Jetson Orin Nano Super Developer Kit with 8 GB of memory. I cover its head mounting in a dedicated article; at system level, the node is intended to coordinate requests from AI services and interaction with peripheral controllers.

Having two computers does not imply identical roles. I have assigned the server function to the Mac and coordination to the Jetson. The final processing split, latency and behaviour after a lost connection still require measurement.

03 / Architecture

From commands to motors

The chain I have proposed continues through microcontrollers, drivers, servos and other motors. Requirements include six proposed ESP32 units to validate, internal Ethernet and CAN, with I²C reserved for local connections. Quantities and components still need reconciliation with individual modules.

The Fusion joint count does not automatically determine the motor count. Transmissions, linkages, rigid groups and passive elements must be reconciled into an actual electrical and mechanical bill of materials.

04 / Architecture

A dedicated software system and independent stopping

I have chosen to develop a dedicated software system, excluding SAINT.OS from the architecture. Requirements also separate the hardware stopping circuit from the Mac and communication bus, including the issue of gravity-loaded axes. This is a requirement to implement and qualify, not an already tested function.

05 / Architecture

Decisions still to be closed

Power, runtime, heat dissipation and wiring are tied to the same architecture. My proposal includes a 24 V-class battery, separate conversions for logic and actuators, and an inverter for the Mac. Sizing and the final circuit remain open: before fixing components and performance targets, I will need to compare real consumption, loads and fault conditions.