Needs custom circuit boards, machined pulleys and quote-only sensors, and has not been updated since 2022.
The Open Dynamic Robot Initiative test stand holds one two-joint leg on a carriage that slides up and down two steel rods. The leg can hop on it while its performance is measured. The leg is the same brushless, belt-driven module used on Solo 12, built from T-Motor Antigravity 4004 motors, optical encoders and two-stage timing belts. A string potentiometer measures carriage height and a six-axis force sensor measures ground forces. The leg is run from a PC through the project's own Master Board and Micro Driver boards.
At a glance
| Parts cost | Not estimated · The force sensor, encoder kit, belts and custom driver boards are sold only by quote, so there is no public price for the main parts |
|---|---|
| Difficulty | 5/5 Expert · Needs custom 6-layer driver boards, precision resin-printed and machined pulleys, quote-only parts from European suppliers and PC-side real-time control. |
| Build time | Not stated |
| Tools needed | Resin (SLA or multijet) printer for the pulleys and sleeves, FDM or SLS printer for the carriage and frame parts, lathe or machine shop for the motor shaft and aluminum pulleys, unless the PWB encoder kit is bought, fine soldering (precision resistors and connectors on the driver board), JTAG flasher for the driver board |
| Motors | 2 actuator modules, each a T-Motor Antigravity 4004 300KV motor with a 9:1 two-stage AT3 timing-belt reduction |
| Controller | ODRI Master Board and one Micro Driver board (custom 6-layer dual motor driver), commanded over Ethernet from a PC at 1 kHz |
| Sensors | Broadcom AEDT-9810 optical joint encoders, Waycon LX-PA-40 string potentiometer for height, ATI Mini-40-E six-axis force-torque sensor |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✗ Video GitHub markdown pages (test stand, 2-DOF leg, actuator module step-by-step guides, electronics), STL and SolidWorks files, browser CAD viewer, Eagle and Gerber files; software on the project wiki |
| Activity | Last update 2022-09-06 · 1,491 GitHub stars · Hardware repo 1,491 stars and 258 forks (shared with Solo 8, Solo 12 and the other ODRI designs); ODRI Discourse forum |
| Kits | No test stand kit. PWB Encoders sells a pre-assembled ODRI Encoder Kit (by quote) that replaces the machined actuator parts |
Licenses
| Design files | BSD-3-Clause source ↗ |
|---|---|
| Code | BSD-3-Clause (master-board firmware and SDK are BSD-2-Clause) source ↗ |
| Documentation | BSD-3-Clause (stated at the foot of the test stand page) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The test stand page was last updated in May 2021 and the repo in September 2022. The newer custom electronics replaced the Texas Instruments evaluation boards used on Leg Test Stand v1. source ↗
- The force-torque sensor and string potentiometer in the parts list are industrial measurement parts sold through distributors by quote, with no list price. Their role is measurement, so a hobby build that only needs to hop could likely leave the force sensor out (unconfirmed, the docs do not mark it optional). source ↗
- The Micro Driver boards are ordered by email quote from Beta Layout (or MacroFab in the US). Parts cost the team about 50 EUR per board, and the precision resistors and connectors are hand-soldered afterwards. source ↗
- The AT3 belts come from Reiff by email quote, which ships only within Europe, and the motor pulleys and shaft must be machined. The PWB Encoders kit includes the machined parts already assembled, also by quote. source ↗
- The actuator testing page was empty for a long time, and maintainers pointed builders to a master-board SDK example for testing single modules before assembly. source ↗
Other quadrupeds plans
- Kame32 (MiniKame successor) · $90–$100 · difficulty 2/5
- Sesame · $50–$60 · difficulty 2/5
- Stanford Pupper (servo version) · $900–$1,000 (2024) · difficulty 3/5
- Spot Micro (SpotMicroAI) · $420–$510 · difficulty 3/5
- SpotMicroESP32 Leika · $230–$600 · difficulty 3/5
- Overleap jumping leg · $350–$590 · difficulty 3/5
- Pupper v3 · $2,000 · difficulty 4/5
- ODRI Solo 12 · $7,100 (2022) · difficulty 5/5
- Mini Pupper (MangDang) · $760 · difficulty 2/5
- Dingo Quadruped · $900 · difficulty 3/5
- Stanford Pupper v2.1 (DJI motor version) · $1,600 (2023) · difficulty 4/5
- openDog V3 · $2,800–$3,400 (2023) · difficulty 4/5