Open Dynamic Robot Initiative

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

https://open-dynamic-robot-initiative.github.io/

In this video, we show a new set of jumps on Solo8. We are evaluating modifications to the leg design to make it more robust against high impact forces. We executed 38 very high jumps (with maximum height of 106 cm) on the robot and did not observe any damage of the 3d printed structural parts. More information: https://open-dynamic-robot-initiative... Forum for questions: https://odri.discourse.group/categories GitHub Hardware Documentation: https://github.com/open-dynamic-robot... GitHub Software Documentation: https://github.com/open-dynamic-robot... Paper: https://arxiv.org/pdf/1910.00093.pdf

https://www.amazon.com/T-Motor-Antigravity-4004-KV400-Professional/dp/B07XB5J3MJ Wow $100 an actuator for just the motor before controller and encoder. Still too steep for consumers.

https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/actuator_module_v1/README.md

QUEST FOR ACTUATORS: GOAT Robot Leg Demonstrates Explosive Jumping

“Gearless Omni-directional Acceleration-vectoring Topology.”
GOAT

CMU researchers have developed a new robot leg that delivered 20 joules in jumping experiments, achieving a height of 82 centimeters, or more than double its body height.

https://spectrum.ieee.org/automaton/robotics/robotics-hardware/goat-robot-leg-demonstrates-explosive-jumping  

They used 3 motors and Gear boxes to make a delta robot capable of Jumping and absorbing the landing. 

T Motor, U10 KV80  $329.9

http://store-en.tmotor.com/goods.php?id=360  

With

Matex's Sintered Metal gear 7:1 

https://www.matexgears.com/sintered-metal-planetary-gears?page=product&cid=steel-planetary-gears&id=75-7mld