I’m in the beginnings of a new project, a brushless quadruped, not much different than the Minitaur from Ghost robotics.
I just received my ODrive a few days ago and spent the weekend building a part of the leg assembly. You can see some initial motion in the video below:
(the video is rotated that’s why the lighting is messed, sorry for that!)
The first two moves are index searches, and the third one is a position hold command. As you can see the motor snaps into position almost instantly. It also packs quite a bit of torque.
Really excited about getting into brushless closed-loop control, and looking forward to future ODrive developments!