# Jenny 5 -- the robot

## TL;DR

Jenny 5 is an open-source humanoid robot designed for research and human assistance, featuring a mobile platform, flexible limbs, multiple sensors, and computer vision capabilities.

## Contribution

The paper details the design, hardware, and current state of Jenny 5, an open-source robot platform for research and human interaction.

## Key findings

- Comprehensive description of Jenny 5's hardware and sensors
- Demonstrates the robot's potential for research applications
- Provides a foundation for future development and customization

## Abstract

Jenny 5 is a fully open-source robot intended to be used mainly for research but can also act as a human assistant. It has a mobile platform with rubber tracks, a flexible leg, two arms with 7 degrees of freedom each and head with 2 degrees of freedom. The robot is actuated by 20 motors (DC, steppers and servos) and its state is read with the help of many sensors. The robot also has 3 webcams for computer vision tasks. In this paper the current state of the robot is described.