An open-source, affordable, dynamic quadruped robot
Update: All the beta slots are full, thanks for your interest!
The r4.x series of the moteus controller is coming along nicely. I now have enough boards in house to build a quadruped and am making some development kits for others to experiment with.
That's a prototype of the development kit, which also comes with a power supply and all the cables and adapters you need.
There's a whole bunch of controllers!
And a quick video showing it spinning on the devkit stand.
If you're interested in purchasing a devkit later this month for $199, you can fill out this google form to get a spot in the beta program: https://forms.gle/aevTe66QnPjB8NPC7
I'm making progress bringing up the "production" version of the moteus controller, the r4.x series. This version is designed to be produced in medium volumes, and also resolves some of the annoyances I had in the r3.x series. Features:
So far things are looking good. I ran some endurance testing using a juggling ball as a test mass and a prototype mk2 moteus servo.
Another short video update:
Another mini-video update:
A tiny bit more progress, in the form of a video:
I've done some work on more graceful failure handling, just a video here...
I've made a lot of progress in the last year, but of course still have a lot to do! This update video has a quick tour.
And now for some details, eventually I guess I should split these up into their own separate hackaday.io projects...
I'm up to the fourth version (r3.1) of the open source moteus brushless controller, designed explicitly for legged robot applications. It has a similar purpose to the Dizzy Servo https://hackaday.io/project/164175-custom-motor-for-robotics or the Mini-Cheeta controller, http://build-its-inprogress.blogspot.com/search/label/HobbyKing%20Cheetah but was designed to support a higher bitrate communications channel and eventually be produced in moderate volumes.
This version has received a fair amount of testing. It is possible to heatsink to the back of the board, and I did some thermal profiling while doing so: http://jpieper.com/2018/12/14/ht-18-thermal-imager-macro-mod/
I've also run it in a jumping configuration continuously for hours at a time.
The moteus controllers are integrated, along with a disassembled brushless 8108 quadcopter motor and a planetary geartrain, into the moteus servo.
The mounting patterns allows for a variety of useful mounting configurations. Combined with the internal bearings, it can support large cantilevered loads, like those required for a jumping robot.
With a similar design spirit to the Mini-Cheetah, the mjbots robot leg is designed to be largely 3d printed from PETG rather than machined. It provides excellent maneuverability in all three axes.
The robot is a chassis with an integrated computer, battery mount, power distribution, and 4 mjbots robot legs. It runs the open source mjmech software for gait sequencing and control.