GSoC 2026 ArduHumanoid Native Vehicle Type Fernando Varas

Google Summer of Code
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Hi everyone! I’m Fernando Varas, 9th semester Mechatronics Engineering student at UNI, Lima, Peru.

Following up on some progress for the ArduHumanoid GSoC 2026 project. The ArduHumanoid vehicle type skeleton is now connected to a Gazebo Harmonic simulation. EKF3 active, pre-arm good, JSON interface working. The vehicle type lives natively in the ArduPilot codebase — AP_Vehicle_Type.h, Joints abstraction, compiles as bin/humanoid.

GitHub: GitHub - FernandoVaras/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source · GitHub

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Hi @FernandoVaras , nice to hear. Mind sharing a video of it moving around in Gazebo when you have the chance? The link you shared is just a few commits on top of the ArduPilot master branch, so hard to judge as is. Thanks!