Files released for OpenTorque v2

A project log for OpenTorque Actuator

A powerful, compliant actuator for legged robotics

gabrael-levineGabrael Levine 02/15/2019 at 23:171 Comment

V2 actuator on the right:

The first OpenTorque v2 unit is built and working successfully, so I'm releasing the design files. You can get them at They're licensed under Creative Commons BY-SA 4.0, so feel free to modify them and use them in your own projects. 

I'm currently prioritizing passive cooling because my walking robot will have a low duty cycle on the motors. As a result, this version is releasing with passive cooling only. Active air-cooling will come in a future update. I'd recommend it if you plan on building a robot arm, as the duty cycle on an arm is near 100%. 

Other future updates will include support for the single-axis ODrive board (once it's released). This will allow daisy-chained power and data connections between actuators, greatly simplifying the wiring. 


Jeroen Houwers wrote 02/20/2019 at 11:26 point

Nice work! Could you upload a small video of the gearbox running under load / no load? 

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