Open Robot Actuator Hardware
Click on the pictures below for more information
TI Evaluation Boards |
BLMC µDriver |
Master Board |
Details Wiring |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/electronics/ti_electronics/images/ti_eval_board_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/electronics/micro_driver_electronics/images/microdriver_board_v2.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/electronics/images/master_board_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/electronics/images/encoder_wiring_micro_driver.png) |
Quadruped 8dof v2 (Solo8) |
Quadruped 12dof (Solo12) |
Biped 6dof (Bolt) |
TriFingerEdu |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_solo_8_v2.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_solo_12_v1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_biped_v1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_trifinger_edu_v1.png) |
2dof Leg v2 |
3dof Leg |
Biped Leg |
FingerEdu |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_2dof_leg_v2.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_3dof_leg_v1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_biped_leg_v1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_finger_edu_v1.png) |
Actuator Module Core v1 |
Actuator Module Core v1.1 |
Details 3d Printed Parts |
Details Machined Parts |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/actuator_module_1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_actuator_module_v1.1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/3d_printed_parts_2.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/machined_parts_1.jpg) |
Quadruped 12dof v1.1 Autonomy Upgrade |
Leg Test Stand v2 |
NYU Finger |
Dual Motor Testbed |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_solo_12_v1.1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_leg_test_stand_v2.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/nyu_finger_v1/images/nyu_finger_cad_3.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/dual_motor_testbed_v1/images/dual_motor_testbed_1.jpg) |
Mechanical Tools and Consumables |
Electronic Components and Tools |
Details Electronics Quadruped Robot 12dof |
Lower Legs |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/tools_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/electronics/images/components_tools_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/quadruped_robot_12dof_v1/details/wire_routing_bottom.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_lower_legs.png) |
Robot Calibration |
Conventions |
Known Issues |
|
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_robot_calibration.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/conventions.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/known_issues.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/general/images/nav_spacer.png) |
Step-by-Step Instructions
Motor Preparation |
Motor Shaft Preparation |
Encoder Preparation |
Center Pulley Preparation |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/motor_mod_1_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/motor_shaft_preparation_18.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/encoder_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/pulley_preparation_1_1.jpg) |
Output Pulley Preparation |
Shell Preparation |
Actuator Module Assembly |
Actuator Module Testing |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/output_pulley_preparation_9.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/shells_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/actuator_module_open_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/actuator_module_v1/images/actuator_module_1.png) |
Old Versions for Reference
Quadruped 8dof v1 |
2dof Leg v1 |
Leg Test Stand v1 |
Foot Contact Switch |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/quadruped_robot_8dof_v1/images/quadruped_8dof_jump_1.jpg) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/leg_2dof_v1/images/leg_2dof_1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/leg_test_stand_v1/images/leg_test_stand_1.png) |
![](https://raw.githubusercontent.com/moefear85/open_robot_actuator_hardware/master/mechanics/foot_contact_switch_v1/images/foot_sensor.jpg) |
Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Jonathan Fiene
Thomas Flayols
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University