Quadruped+Actuator inspired by SOLO

General
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Hi all,

I’ve built a quadruped inspired by the SOLO, oriented towards plastic parts that are easy to print with an FDM printer, and more affordable BOM with easier to source parts. It may sacrifice some performance. Here’s a video from a while ago with the quad’s first steps:

And here a video showing a torque test of the new version of the quad actuator:

The actuator achieves 1.7Nm@14,5A. This actuator design is open source on github. Sorry, I cannot post more than 2 links since this is my first post.

I’m also designing and manufacturing the motor control boards used in this quadruped at tinymovr dot com.

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Great! Thanks for your post and the videos.

Here is the link to your GitHub repository:

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Thank you! I’ll be updating this repo with improvements. Naturally, anyone willing to contribute (issues, comments, changes) is more than welcome.

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Nice videos, thanks for sharing :+1:

Did you reinforce the central spine (what we see in the middle at 0:08 in the first video) or is it only plastic? If yes aren’t you afraid it could bend and/or break during fast motions, landing after a jump or due to an impact?

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Thanks :slight_smile: Yep, it’s reinforced.Theres a square alu profile in the joint between the two parts, and the whole thing is dunked in epoxy. Probably the strongest part of the robot :laughing:

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