Benjamin Bokser's repositories
sprydrive
SpryDrive is an affordable actuator based on the quasi-direct drive (QDD) scheme. It is composed of a brushless outrunner motor, a low-cost metal gearbox, and a 3D-printed housing. Inspired by Gabrael Levine's OpenTorque actuator, but takes up less volume. The lower cost of the smaller bearing makes up for the added cost of the steel gears. Output Backlash: ~0.13 degree Gear Ratio: 7:1 Motor: Herlea X8318S or Turnigy 9235
EM7180_for_STM32
C code for using the EM7180 sensor hub with STM32 boards
hopper-mpc-inertial
Dynamic simulation and control of a floating body hopper.
hopper-mpc-point
Dynamic simulation and control of a point mass hopper.
hopper-sim
Dynamic simulation of a five bar leg using maximal coordinates and variational integration. Written in Julia.
hopper-power-dist
The power distribution PCB design for the REx Hopper.