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open-dynamic-robot-initiative / open_robot_actuator_hardware

https://open-dynamic-robot-initiative.github.io
BSD 3-Clause "New" or "Revised" License
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Untethered version, Support additional mass of battery pack #37

Closed bcbuckles closed 3 years ago

bcbuckles commented 3 years ago

First off, great work! This is a great contribution to open source robotics community, very exciting. I am curious if anyone has attempted an untethered version, or done an analysis of the loads, joints, actuator sizing, etc to see if its even feasible. I understand the control scheme and electronics are currently designed for tethered operation, but I'm curious whether the hardware /actuators could be extended to an untethered build without much modification. Of course the torque/mass relationship is of utmost importance in these types of robots, and i expect that your actuators were sized for the current mass. Anyhow, I would love to build an untethered version with a custom li-ion or lipo pack, but was hoping you could share some insight or any calc/research you've done on the subject.

bcbuckles commented 3 years ago

It appears v1.1 is looking into this. Closing