QDD (Quasi Direct Drive) actuators use brushless motors and have low gear reductions, high torque, and high speed. These characteristics make them ideal for developing walking robots. For this project, I’ll be using the QDD actuators that I developed called OpenQDD.

Specifications

• 9:1 Planetary Gear Set with Helical Gears
• ODrive S1 FOC Controller with an Onboard Encoder
• 13x 3D Printed Parts
• Air Vents for Passive Cooling
• Peak Holding Torque: 16.36 Nm
• Total Mass: 935g
• Total Cost: $247