Beginnings of a brushless quadruped robot

#1

Hi all,

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!

Yannis

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#2

Very cool! @Nathan and his group made a very similar robot. Lots of pictures here.

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#3

Wow that’s a great build! Thanks for the heads up!

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#4

Here’s a short update: Single leg gait.

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#5

Very nice! Keep the videos coming ;D

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#6

So cool! Can I ask how you are communicating between the RPI and the ODrive?

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#7

Thanks! Communication is standard USB (native protocol). I’m doing open loop for now so latency is minimally important but I’m planning to move to closed loop at some point, where I would like to achieve sub-millisecond latency for both reads and writes.

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#8

Here’s a video I just uploaded yesterday showing the quadruped’s first steps:

This prototype uses serial communication between a Teensy and ODrive.

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