Anyone knows what is the ideal material for 3d printing a stator on an FDM ? Not sure between 80% cobalt PLA filament or printing out a stator shell and filling it with 100% cobalt power ? Or probably another option ??
Latency is impressive! Direct communication over CAN, or mediated through PC? And the adductor stand looks beefed up compared to your thesis; makes the hip joint off center compared to Mini. Is that design just for this teleoperation, to accommodate the 8323 style board, or a structural revision to Mini's adductor setup (e.g. for a wider stance)?
I actually built these before building the mini cheetah, so this was an old version of the leg design. For some reason I didn't think to flip the knee motor and leg order until after building these.
This is so amazing! Is there possibility to buy somewhere the MIT mini cheetah actuator or at least controller. I mean not the Chinese copy but real original one? I want to test real thing, not the modified copies. :)
There isn't. The controller design files are here though if you want to have some made: github.com/bgkatz/3phase_integrated/tree/master/New%20Version/Cheetah%20Driver%20Integrated%20V4%20connector But that said, several of the companies that have copied the actuator have also made firmware-compatible versions of my motor drives to go with them. For example: www.aliexpress.com/i/4000413832282.html?spm=2114.12057483.0.0.62c24011xY4gtU I think the newest version of the Steadywin ones use this drive, and I think the T-motor actuators also use a variant of my drive (judging by the product description describing the drive as "MIT Open Source") : store-en.tmotor.com/category.php?id=97 I have not tested any of these drives in person, but random people on the internet (for example www.buildlog.net/blog/2020/03/adding-step-and-direction-cnc-control-to-the-cheetah-motor/) have bought them and contacted me, and they appear to be running my firmware.
@@BenKatz Thank you a lot for the answer. I ordered the driver from Steadywin. I will try to play with it. I am reading your PhD thesis now. I would like to understand how difficult it is to adapt your motor driver to other motors (apparently I need to set correct values for inductance, resistance and number of pole pairs, may be something else).
Im currently reading your masters thesis and there is no mention about lubrication of the gears. Also the housing seems to be open. Does it mean it doesnt use anything?
I used a molybdenum disulphide grease which sticks to the gears well. Later versions of the actuator have fully enclosed gearboxes though: build-its-inprogress.blogspot.com/2019/11/building-all-robots.html
