# Open Robot Actuator Hardware

**Click on the pictures below for more information**
## Electronics
| TI Evaluation Boards  | BLMC µDriver | Master Board |Details Wiring|
| ---------------  | ------------- |------------- |---|
| <a href="/electronics/ti_electronics/README.md#texas-instruments-evaluation-board-electronics"><img src="electronics/ti_electronics/images/ti_eval_board_1.jpg" width="350"></a>| <a href="electronics/micro_driver_electronics/README.md#micro-driver-electronics"><img src="electronics/micro_driver_electronics/images/microdriver_board_v2.jpg" width="270"></a>  | <a href="https://github.com/open-dynamic-robot-initiative/master-board#master-board"><img src="electronics/images/master_board_1.jpg" width="270"></a>  |<a href="electronics/details/details_wiring.md#details-wiring"><img src="electronics/images/encoder_wiring_micro_driver.png" width="270"></a> |

## Mechanics
| Quadruped 8dof v2 (Solo8) | Quadruped 12dof (Solo12) | Biped 6dof (Bolt) | TriFingerEdu |
| ------------------------- | ------------- |------------- |------------- |
|<a href="mechanics/quadruped_robot_8dof_v2/README.md#quadruped-robot-8dof-v2"><img src="mechanics/general/images/nav_solo_8_v2.png" width="300"></a>|<a href="mechanics/quadruped_robot_12dof_v1/README.md#quadruped-robot-12dof-v1"><img src="mechanics/general/images/nav_solo_12_v1.png" width="300"></a>|<a href="mechanics/biped_6dof_v1/README.md#biped-robot-6dof-v1"><img src="mechanics/general/images/nav_biped_v1.png" width="140"></a>|<a href="mechanics/tri_finger_edu_v1/README.md#trifingeredu-v1"><img src="mechanics/general/images/nav_trifinger_edu_v1.png" width="250"></a>|

| 2dof Leg v2  | 3dof Leg | Biped Leg |FingerEdu |
| ------------- | ------------- |------------- |------------- |
| <a href="mechanics/leg_2dof_v2/README.md#leg-2dof-v2"><img src="mechanics/general/images/nav_2dof_leg_v2.png" width="250"></a>  | <a href="mechanics/leg_3dof_v1/README.md#leg-3dof-v1"><img src="mechanics/general/images/nav_3dof_leg_v1.png" width="270"></a>  | <a href="mechanics/biped_leg_3dof_v1/README.md#biped-leg-3dof-v1"><img src="mechanics/general/images/nav_biped_leg_v1.png" width="220"></a>  |<a href="mechanics/finger_edu_v1/README.md#fingeredu-v1"><img src="mechanics/general/images/nav_finger_edu_v1.png" width="260"></a>  |

| Actuator Module Core v1| Actuator Module Core v1.1 | Details 3d Printed Parts | Details Machined Parts |
| ---------------  | ------------- |------------- |------------- |
| <a href="mechanics/actuator_module_v1/README.md#brushless-actuator-module-core-v1"><img src="mechanics/actuator_module_v1/images/actuator_module_1.png" width="250"></a>| <a href="mechanics/actuator_module_v1/actuator_module_v1.1.md#brushless-actuator-module-core-v11"><img src="mechanics/general/images/nav_actuator_module_v1.1.jpg" width="250"></a> |<a href="mechanics/actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts"><img src="mechanics/actuator_module_v1/images/3d_printed_parts_2.jpg" width="200"></a> | <a href="mechanics/actuator_module_v1/details/details_machined_parts.md#details-machined-parts"><img src="mechanics/actuator_module_v1/images/machined_parts_1.jpg" width="200"></a> |

| Quadruped 12dof v1.1<br>Autonomy Upgrade | Leg Test Stand v2 | NYU Finger | Dual Motor Testbed |
| ---------------  | ------------- |------------- |-----------|
| <a href="mechanics/quadruped_robot_12dof_v1.1/README.md#quadruped-robot-12dof-v11"><img src="mechanics/general/images/nav_solo_12_v1.1.png" width="300"></a>| <a href="mechanics/leg_test_stand_v2/README.md#leg-test-stand-v2"><img src="mechanics/general/images/nav_leg_test_stand_v2.png" width="300"></a> | <a href="mechanics/nyu_finger_v1/README.md#nyu-finger-v1"><img src="mechanics/nyu_finger_v1/images/nyu_finger_cad_3.png" width="400"></a> | <a href="mechanics/dual_motor_testbed_v1/README.md#dual-motor-testbed-v1"><img src="mechanics/dual_motor_testbed_v1/images/dual_motor_testbed_1.jpg" width="300"></a> |

## More Details
| Mechanical Tools and Consumables |Electronic Components and Tools| Details Electronics<br>Quadruped Robot 12dof | Lower Legs |
| --- | --- | --- |--- |
|<a href="mechanics/actuator_module_v1/details/details_tools.md#details-mechanical-tools-and-consumables"><img src="mechanics/actuator_module_v1/images/tools_1.jpg" width="200"></a>|<a href="electronics/details/details_components.md#details-electronic-components-and-tools"><img src="electronics/images/components_tools_1.jpg" width="200"></a>| <a href="mechanics/quadruped_robot_12dof_v1/details/details_electronics_quadruped_12dof.md#details-electronics-quadruped-robot-12dof-v1"><img src="mechanics/quadruped_robot_12dof_v1/details/wire_routing_bottom.jpg" width="300"></a> | <a href="mechanics/general/lower_legs.md#lower-legs"><img src="mechanics/general/images/nav_lower_legs.png" width="300"></a>  |

| Robot Calibration | Conventions | Known Issues |  |
| --- | --- | --- | --- |
|<a href="mechanics/general/robot_calibration.md#robot-calibration"><img src="mechanics/general/images/nav_robot_calibration.png" width="200"></a>|<a href="mechanics/general/conventions.md#conventions"><img src="mechanics/general/images/conventions.png" width="300"></a>|<a href="mechanics/general/known_issues.md#known-issues"><img src="mechanics/general/images/known_issues.jpg" width="300"></a>|<img src="mechanics/general/images/nav_spacer.png" width="200">|

## Step-by-Step Instructions
| Motor Preparation  | Motor Shaft Preparation | Encoder Preparation |Center Pulley Preparation|
| --- | --- | --- | --- |
| <a href="mechanics/actuator_module_v1/details/details_motor_preparation.md#details-motor-preparation"><img src="mechanics/actuator_module_v1/images/motor_mod_1_1.jpg" width="200"></a>| <a href="mechanics/actuator_module_v1/details/details_motor_shaft_preparation.md#details-motor-shaft-preparation"><img src="mechanics/actuator_module_v1/images/motor_shaft_preparation_18.jpg" width="200"></a>  | <a href="mechanics/actuator_module_v1/details/details_encoder_preparation.md#details-encoder-preparation"><img src="mechanics/actuator_module_v1/images/encoder_1.jpg" width="200"></a>  |<a href="mechanics/actuator_module_v1/details/details_center_pulley_preparation.md#details-center-pulley-preparation"><img src="mechanics/actuator_module_v1/images/pulley_preparation_1_1.jpg" width="200"></a> |

| Output Pulley Preparation | Shell Preparation | Actuator Module Assembly |Actuator Module Testing|
| --- | --- | --- | --- |
| <a href="mechanics/actuator_module_v1/details/details_output_pulley_preparation.md#details-output-pulley-preparation"><img src="mechanics/actuator_module_v1/images/output_pulley_preparation_9.jpg" width="200"></a>| <a href="mechanics/actuator_module_v1/details/details_shell_preparation.md#details-shell-preparation"><img src="mechanics/actuator_module_v1/images/shells_1.jpg" width="200"></a>  | <a href="mechanics/actuator_module_v1/details/details_actuator_module_assembly.md#details-actuator-module-assembly"><img src="mechanics/actuator_module_v1/images/actuator_module_open_1.jpg" width="200"></a>  |<a href="mechanics/actuator_module_v1/details/details_actuator_module_testing.md#details-actuator-module-testing"><img src="mechanics/actuator_module_v1/images/actuator_module_1.png" width="200"></a> |

## Old Versions for Reference
| Quadruped 8dof v1 | 2dof Leg v1 | Leg Test Stand v1| Foot Contact Switch |
| ---------------  | ------------- |------------- |------------- |
| <a href="mechanics/quadruped_robot_8dof_v1/README.md#quadruped-robot-8dof-v1"><img src="mechanics/quadruped_robot_8dof_v1/images/quadruped_8dof_jump_1.jpg" width="300"></a>|<a href="mechanics/leg_2dof_v1/README.md#leg-2dof-v1"><img src="mechanics/leg_2dof_v1/images/leg_2dof_1.png" width="350"></a> |<a href="mechanics/leg_test_stand_v1/README.md#leg-test-stand-v1"><img src="mechanics/leg_test_stand_v1/images/leg_test_stand_1.png" width="300"></a>|<a href="mechanics/foot_contact_switch_v1/README.md#foot-contact-switch-v1"><img src="mechanics/foot_contact_switch_v1/images/foot_sensor.jpg" width="350"></a>|

## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)  

## Authors
Jonathan Fiene  
Thomas Flayols  
Felix Grimminger  

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University