An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

A new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control.

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02 Feb, 2021

A new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control.

A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors. Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot. 

They systematically characterize the achieved impedance at the foot in both static and dynamic scenarios, and measure a maximum dimensionless leg stiffness of 10.8 without active damping, which is comparable to the leg stiffness of a running human.

Finally, to demonstrate the capabilities of the quadruped, they present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation.  

02 Feb, 2021

I'm a Mechanical Engineer from the Philippines and I've been working for Wevolver as a Content Manager for almost a year now. I'm passionate about innovative technology: 3D Printing, Robotics, Artificial Intelligence (AI), Autonomous Vehicles, etc.

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