The ODrive v3.6 it was built around is sold out and replaced by single-axis boards, so the electronics need a substitute, and the project has been idle since 2021.
Overleap is a 3D-printed two-joint robot leg by Aaron de los Santos that can make single jumps and hop continuously in a circle. Each joint is driven by a T-Motor Antigravity 4006 brushless drone motor through a 9:1 printed timing-belt reduction, controlled by an ODrive board taking torque commands from a Teensy. The leg is mounted on a boom with a two-axis rotating base, so it hops around a circle rather than standing free. A force-sensitive resistor in the foot detects touchdown.
At a glance
| Parts cost | $350–$590 estimated How Estimated for this page from current retail prices (2026-10-09) of the parts in the project parts list source ↗ Build priced The documented leg and rotating test base, with the discontinued ODrive v3.6 and Teensy 3.6 replaced by current parts; low = one third-party dual-motor board based on the ODrive v3.6 design, high = two official single-axis ODrive S1 boards Not included 3D printing, tools, shipping, tax; the 24V power supply and brake resistor, which the parts list does not include |
|---|---|
| Difficulty | 3/5 Intermediate · No machining or custom circuit boards, but it needs ODrive tuning, encoder calibration and safe handling of a leg that can kick hard. |
| Build time | Not stated |
| Tools needed | 3D printer (about 30 PLA parts at 20% infill), soldering iron (encoder wires), heat-set insert tool, hacksaw for the aluminum tube boom, super glue or epoxy |
| Motors | 2 T-Motor Antigravity MN4006 380KV brushless motors with 9:1 two-stage GT3 timing-belt reductions |
| Controller | ODrive v3.6 (24V) dual motor controller, commanded over UART by a Teensy 3.6 (any Arduino-compatible board is said to work) |
| Sensors | 2 AS5047P magnetic encoder boards (ABI), Interlink FSR 408 force-sensitive resistor in the foot |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✗ Video GitHub README with a 15-step drawing-based assembly guide (also as one PDF), STL files only (no editable CAD), circuit drawing and an Arduino library; mirrored on Hackster.io |
| Activity | Last update 2021-08-05 · 29 GitHub stars · 2 forks, no GitHub issues filed; also published on Hackster.io |
| Kits | None known |
Licenses
| Design files | MIT (single root LICENSE covering the repo, including the STL files and drawings) source ↗ |
|---|---|
| Code | MIT (separate LICENSE file in the Arduino library folder) source ↗ |
| Documentation | MIT (README and assembly drawings sit in the same MIT-licensed repo); the Hackster.io copy of the write-up states no separate license source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The specified ODrive v3.6 is sold out and marked not recommended for new designs, with the single-axis ODrive S1 named as its replacement. A two-joint leg therefore needs two S1 boards, or one of the third-party dual-motor boards based on the v3.6 design (compatibility with the Overleap code is unconfirmed). source ↗
- The Teensy 3.6 in the parts list is discontinued, and PJRC points new projects to the Teensy 4.0 or 4.1. The parts list says any Arduino-compatible board works, since the code only sends commands to the ODrive over a serial port. source ↗
- The leg only jumps on its test base, so it travels in a circle. The base is a boom of 3/4 inch aluminum square tube on a printed two-axis pivot with a pressboard plate. Free-standing balance would need new work. source ↗
- The parts list has no power supply. The ODrive is set up for 24V with its brake resistor enabled. The README suggests adding a power resistor if the supply cannot absorb the current the motors feed back. source ↗
- The encoder magnets supplied with the AS5047P boards are glued to the back of each motor, and the encoder wires must be soldered on before the mechanical assembly starts. If motor wires are swapped later, the whole ODrive calibration has to be run again. source ↗
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