bipedal robot

Larry Robot – Hip Joints Testing

So last night I had some time to assemble the first two 3D printed actuators for the hip-joints motion. In this test I am using Odrive 48V (Dual channel bldc controller) with encoder (as5047p) Current limit is set to 10A (Quite low) just for testing the motion and the Position control. I am using Odrives […]

VESC_packet.cpp fix vesc fw3.3
motors ROS VESC

ROS Driver VESC 3.33 Firmware Fix

In order to be able to use encoders on the HW pins on the VESC (avoid modification of the VESC hall sensor filter) one need to upgrade the Firmware to a later version with the option //#define AS5047_USE_HW_SPI_PINS 1 in the conf_general.h file. by uncommenting that line the VESC will use HW ports to communicate with the encoder. If […]

Drive system final design
Drive system

Drive System Design Completion

So this weekended I have been working on finishing the design of the drive system. I have updated the initial design of the 2-pulley gearing into a 4-pulley gearing. The main reason for the update is to have the ability the to achieve a lower wheel surface speed. The brackets are also designed with adjustable offsets, so […]

VESC FOC Encoder position control
VESC

Rotary Position Sensor + VESC

As it turns out you do not really need to make modifications to remove the hall sensor filter in order to get Rotary Position Sensors to work with the VESC. In a previous post I described how I located the hall sensor filter and removed it (read here). Anyways, I was looking around the internet and found […]