Open Dynamic Torque Initiative

This GitHub repository serves as the primary source of documentation for an University of Michigan research team's implementation of the New York University's Open Dynamic Robot Initiative's 8 degree of freedom quadruped robot.

Table of Contents

This Table of Contents is presented in order of project completion.

1. Bill of Materials
2. CAD Masterlist
3. Manufacturing 3D Prints
4. Machining
5. Wiring
6. Assembly
7. Firmware Flashing
8. Software
9. Control Capabilities
10. Revisions

Project Overview

We are a part of a robotics based research team at the University of Michigan. Our 2021 summer focus is to implement our version of the New York University's Open Dynamic Robot Initiative 8 degree of freedom quadruped robot, a low cost (~$8,000) and torque controlled modular system made primarily from 3D printed parts. We plan to contribute to this research initiative by thoroughly documenting our process (via GitHub, YouTube, and a project report), revising existing procedures, and designing new capabilities.

Links

• Our YouTube Channel
• Our Project Report
• Open Dynamic Robot Initiative Entry Point

Authors

• Necmiye Ozay
• Anne Decastro
• Emilia Psacharopoulos

Acknowledgement

We are implementing the Open Dynamic Robot Initiative, an open source low cost research project kickstarted by NYU. Copyright information can be found below:

Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., ... & Righetti, L. (2020). An open torque-controlled modular robot architecture for legged locomotion research. IEEE Robotics and Automation Letters, 5(2), 3650-3657.