I’m building a bipedal robot (named Larry) inspired by Agility Robotics’ Cassie. It uses 10 OpenTorque actuators.
These actuators are backdrivable and able to absorb kinetic energy during the walk cycle. As a result of this, there’s no need for the complex series-elastic linkages present in Cassie. Instead.
Carbon fiber tubes are used for the linkages in order to keep inertia as low as possible. The total weight is in the ballpark of 20 kg.
To control this robot, I’m going to use reinforcement learning. Currently I am creating the URDF for simulation in Gazebo.
A quick and simple motion study of the joints in Fusion360