Can I use Odrive to build a cheetah leg?


#1

Hello!I am going to implement the demo shown here [https://www.youtube.com/watch?v=_Yxy8HQVkhg](http://MIT cheetah leg)
But I have met some difficulties.
I am going to use brushless motors and planetary reducer to make the actuator, and I have found some opensource projects like Opentorque. So the hardware problem is solved generally. Another question I don’t solve yet is the motor driver or ESC.
At first, I tried VESC but I found it difficult to use STM32 to control it and there was something wrong with the encoder. So I think it’s time to give Odrive a shot.
However, I am in China and there is no agency selling Odrive. I need to buy components and soldering by myself.
Here comes the question. Can Odrive implement impedance control like the video without changing source code? If I need to change source code, how to read souce code cause I have tried and failed…
Thanks for anyone’s comments


#2

Hi,
Your project sounds really cool. There are some other people also using ODrive for similar projects, for example OpenTorque is using it. So I think ODrive should work well for your project also.

Yes I think the impedance control you see demonstrated in that video should be working without changing the firmware code, just setting parameters. Specifically a position gain and velocity gain.

We ship to China, so you can just order on the ODrive Shop.


#3

THANKS A LOT! If there is any progress, I will share it here.