The platform is built upon a custom modular 3d-printed actuator, with a 8:1 planetary gearbox. The dimensions are 47mm x 47mm x 47mm, and the cost is about $74 per actuator. The BLDC controller board it uses is the DrizzyServo from dizzy.ai.


I also built a 2D Port-Hamiltonian and then later a 3D Featherstone simulation frameworks in MATLAB, in order to teach myself the low-level math/physics. Here are a couple simple heuristic based balancing controllers:


My design goals:

dear Darren , i couldn't find "96817A156 Thread Forming Screw for Thin Plastic"
and "91420A116"
could you tell me how to buy it , i bought some screw similer to it , but it doesn't match