Quantity   Component name
1 × Raspberry Pi We used a Raspberry Pi 4 B+
1 × ODrive We used an ODrive S1
2 × Stepper motors We used two NEMA 17s; one had 13Ncm of torque and the other had 70Ncm
1 × 100 KV brushless outrunner
2 × Stepper drivers We used DM542T
1 × LED strip We used a WS2812B with 144 LED/m
1 × Carbon fiber tube For the arm
1 × I2C multiplexer
1 × Fans and heatsink entirely optional
2 × Encoders We used the AS5600; one for the wrist and one for the elbow (hence the need for a multiplexer)
1 × Power supply Our power supply was for 24V 18.8A
1 × Slip ring To allow the wrist to continuously rotate