Drive system VESC

3D-printed OpenTorque Actuators

A powerful, compliant actuator for legged robotics OpenTorque is an open-source implementation of the quasi-direct-drive actuation scheme pioneered by the MIT Biomimetics lab. The basic premise is this: use the largest possible motor with the smallest possible gear reduction. This results in an actuator that is robust, highly backdrivable, and capable of proprioceptive force sensing […]