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 and open-loop impedance control. These are all ideal attributes for building legged robots.
Read more about the project here
- Peak torque (theoretical): 56 Nm
- Continuous torque (measured): 28 Nm
- Weight: 1.2 kg
- Gear ratio: 6:1
- Cooling: Air-cooled
- Cost: Approx. $150
I also made a modified dual-version for a similar hip motion as the Agility Robotics Cassie robot. For my next project I will print 6pcs of the single and 2pcs of the dual-version. I will Use 10 Maytech 100A VESC´s (one for each actuator) to control each joint.
Credit for the Actuator goes to