Robot Max

graph LR
    subgraph Power["⚡ 電源系統"]
        BAT["🔋 Li-S 3.7V"]
        DCDC["DC-DC 5V"]
        LDO["LDO 3.3V"]
    end

    subgraph Brain["🧠 頭脳ユニット"]
        ESP["ESP32-S3"]
        CM824["CM824 Driver"]
    end

    subgraph Sensors["👁️ センサ群"]
        CAM["CMOSカメラ ×2"]
        MIC["MEMSマイク ×2"]
        IMU["6軸IMU"]
        EIT["16電極EIT"]
        TOF["VL53L0X ToF"]
    end

    subgraph Actuators["💪 アクチュエータ群"]
        NECK["首用SMA線 ×4"]
        HIP["股関節用SMA線 ×4"]
        FACE["顔面用SMA線 ×6"]
        PIEZO["回転型圧電"]
        ER["ER流体デバイス ×2"]
        MEP["MEP ×2"]
    end

    BAT --> DCDC --> LDO --> ESP
    BAT --> CM824
    ESP -->|"I²C"| IMU
    ESP -->|"I²C"| EIT
    ESP -->|"I²C"| TOF
    ESP -->|"SPI"| CAM
    ESP -->|"ADC"| MIC
    ESP -->|"SMA_CTRL"| CM824
    CM824 --> NECK
    CM824 --> HIP
    CM824 --> FACE
    ESP -->|"GPIO"| PIEZO
    ESP -->|"GPIO"| ER
    ESP -->|"GPIO"| MEP
            

graph LR
    A["🔥 Nitinol 70°C"] -->|"Contact"| B["🟢 Gaine Silicone/h-BN"]
    B -->|"Conduction"| C["🟠 Tresses Cuivre"]
    C -->|"Conduction"| D["⚪ Crâne Titane"]
    D -->|"Caloducs"| E["🔵 アンテナ駆動 Méthanol 25°C"]
    F["💨 Canaux Ventilation"] -->|"Convection"| C

    style A fill:#cc3333,stroke:#ff4444,color:#fff
    style B fill:#338833,stroke:#44aa44,color:#fff
    style C fill:#cc8833,stroke:#ddaa44,color:#fff
    style D fill:#888888,stroke:#aaaaaa,color:#fff
    style E fill:#3366cc,stroke:#4488ee,color:#fff
    style F fill:#33aacc,stroke:#44ccee,color:#fff
            

頸部pe Anatomique & Structure Interne

graph TD
    subgraph Head["🧠 頭部"]
        A["Yeux CMOS ×2"]
        B["MEMSマイク ×2"]
        C["ESP32-S3 + CM824"]
        D["アンテナ駆動 Caloducs"]
    end

    subgraph Neck["🦴 頸部"]
        E["Rotule Atlanto-Occipitale"]
        F["Nitinol 50µm ×4"]
    end

    subgraph Torso["🫁 Tronc"]
        G["Endosquelette Cyphose"]
        H["Tresses Cuivre"]
        I["Ventilation Passive"]
    end

    subgraph Pelvis["⚖️ Bassin"]
        J["Came Excentrique"]
        K["Pendule Tungstène 15g"]
        L["Batterie Li-S"]
        M["Bobine Qi"]
    end

    subgraph Legs["🦿 Membres"]
        N["Hanches Coxofémorales"]
        O["Dyneema + MEP"]
        P["Pieds Incurvés"]
        Q["Peau Graphène"]
    end

    C -->|"PWM"| F
    C -->|"Moteur"| J
    J -->|"Came"| K
    K -->|"Bascule CG"| P
    Q -->|"Tactile"| C
    H -->|"Thermique"| D
            

分解図 — 6大モジュール

graph TD
    subgraph M1["Module 1 : 頭部"]
        M1A["Crâne Titane"]
        M1B["アンテナ駆動 ×2"]
        M1C["ESP32-S3"]
        M1D["CM824"]
    end

    subgraph M2["Module 2 : 頸部"]
        M2A["Rotule"]
        M2B["Nitinol ×4"]
        M2C["Gaine h-BN"]
    end

    subgraph M3["モジュール3：体幹"]
        M3A["Squelette PLA"]
        M3B["Cuivre"]
        M3C["LCE ×2"]
        M3D["EIT"]
    end

    subgraph M4["モジュール4：骨盤"]
        M4A["Piézo + Came"]
        M4B["Tungstène"]
        M4C["Li-S + Qi"]
    end

    subgraph M5["Module 5 : 左脚"]
        M5A["Hanche"]
        M5B["Nitinol 75µm"]
        M5C["ER Genou"]
    end

    subgraph M6["Module 6 : 右脚"]
        M6A["Hanche"]
        M6B["Nitinol 75µm"]
        M6C["ER Genou"]
    end

    M1 ---|"Rotule + I²C"| M2
    M2 ---|"Colonne + PWM"| M3
    M3 ---|"Bassin + Power"| M4
    M4 ---|"Hanche G"| M5
    M4 ---|"Hanche D"| M6

    style M1 fill:#E8F0FE,stroke:#4285F4,color:#1C1612
    style M2 fill:#E6F4EA,stroke:#34A853,color:#1C1612
    style M3 fill:#FCE8E6,stroke:#EA4335,color:#1C1612
    style M4 fill:#FEF7E0,stroke:#FBBC04,color:#1C1612
    style M5 fill:#F3E8FD,stroke:#AB47BC,color:#1C1612
    style M6 fill:#F3E8FD,stroke:#AB47BC,color:#1C1612