Introduction Video - Open Dynamic Robot Initiative 

Yes - you can find more information here... Entry page: open-dynamic-robot-initiative.github.io GitHub Hardware Documentation: github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware#open-robot-actuator-hardware

Our control loop is working at 1KHz, and the natural frequency of whole robot is quite high. So we do not reach the resonance frequency by just exciting the robot by hand (

@@odri Awesome, thank you for the info!!! I've done some extremely (!) basic control loop work and can't imagine bringing all of that together like this. Great stuff!!

Hello! The T-Motor Antigravity 4004 300kV produces about 0.023Nm per amp. We use a 9:1 gear reduction - with that the module produces about 0.2Nm per amp at the output. You can find more information here: github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/actuator_module_v1/README.md#brushless-actuator-module-core-v1

The CAN communication was the simplest way for us to get started with the Texas Instruments Evaluation boards. We are now using our custom master board and custom micro driver boards: github.com/open-dynamic-robot-initiative/master-board#master-board github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/electronics/micro_driver_electronics/README.md#micro-driver-electronics The master board communicates to the micro driver boards via SPI and to the control pc via ethernet. For both electronics setups the torque control on the motor driver cards runs at 10kHz - the communication with the control pc at 1kHz.

We do not have a forum or mailing list yet, but we are thinking about it. You can see our GitHub page here and reach related people for your questions: github.com/machines-in-motion

We have setup a forum for questions now. odri.discourse.group/categories

We haven't done any load carrying tests - the robot was mostly designed for executing highly dynamic behaviors. It can certainly carry 500g - maybe 1kg depending on the gait, posture and the duration. We haven't used onboard batteries yet - we are working on adding onboard batteries for next year.

We are using the T-Motor Antigravity 4004 300kV brushless motors. github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/actuator_module_v1#brushless-dc-motor

The quadruped is actually not based on Arduino. The control computer is a desktop directly sending current commands to the motor controllers via CAN bus via CAN PCI interface boards. The updated versions of the robot are using a single Ethernet link to close the loop at 1kHz. To achieve this, a custom ESP32 is used to centralise all the sensors and actuators data via SPI. With the ethernet version it is possible (and tested) to use a raspberry PI 4 to control the robot. The challenge is then to be able to write controller that can run with limited computational power. A last option is to use a remote computer and radio link to close the control loop on a distant computer. This option is implemented but needs rather wifi free environment to work properly. You can find more information about the electronic here: Legacy CAN electronic : github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/electronics/ti_electronics/README.md ESP32 Master Board (ethernet and Wifi): github.com/open-dynamic-robot-initiative/master-board uDriver (motor driver): github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/electronics/micro_driver_electronics/README.md