OpenLeg - Open Source Dynamic Robotic Leg

Open source robotic leg for development and education of biomimetic robotics

Joey Byrnes

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Description

OpenLeg started as my Senior Design project for ECE445 at UIUC. The goal of the project is to provide a fully open source robotic leg capable of fast dynamic movements for research and development of quadrupedal robots. OpenLeg is intended to make development of robotic legs and associated algorithms accessible to hobbyists and researchers with tight schedules or budgets. All files required for replicating OpenLeg are provided on GitHub along with a detailed assembly guide walking through the mechanical and electrical assembly.Please reach out to me at openlegproject@gmail.com if you are interested in building the leg or contributing to the project.Recent Updates:The wiring guide for the power supplies was just added! Now all essential mechanical and electrical assembly steps are detailed in the guide.

Details

Please visit the OpenLeg GitHub for the latest details and files.

https://github.com/JoeyByrnes/OpenLeg

Discussions

scirpion.te wrote 10/26/2019 at 15:32

Awesome looking project! Is there an STP file of the whole leg assembled?

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lukejs3 wrote 09/25/2019 at 09:24

Looks great! I'm curious about your motor control. Can you do torque control of your brushless motor? Any details would be great.

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Joey Byrnes wrote 09/26/2019 at 04:27

Hi, yes you can control the torque of the motors. I used the ODrive for controlling the motors in senior design so it has all of the functionality the ODrive offers. I'm working on a single-motor controller now which will fit nicely next to each motor, these also have all of the functionality of the ODrive since the circuit is almost the same and it uses the stock ODrive firmware, I'm still working on getting the performance to match an original ODrive though.

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Kyle Brinkerhoff wrote 09/23/2019 at 07:33

that drive belt is doing some straight up sorcery

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Joey Byrnes wrote 09/26/2019 at 04:16

The 90 degree twist was inspired by photos I saw of the inside of a Kuka arm.

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OpenLeg - Open Source Dynamic Robotic Leg

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