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Moco-Minitaur LTS

An open-source 8-DOF desktop quadruped robot platform with force control capabilities.

  • Quadruped
  • No license: all rights reserved by the creator
  • 3D printable

Suggested by Robotheca, created by @golaced (opens in a new tab), from github.com/golaced/Moco-Minitaur-LTS- (opens in a new tab). Pinned to commit ebdf2da (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (8 firmware images)

Photo and 3D model

This repository has no photo of the robot yet.

3D model loaded from the original files on GitHub at ebdf2da, under NONE. View the original files from GitHub (1.0 MB) (opens in a new tab)

Degrees of freedom
8

What it can do

Written by Robotheca from the project's documents.

  • Walks on four legs with eight degrees of freedom
  • Uses force-controlled leg movements
  • Runs open-source control software
  • Supports future SLAM navigation with RPlidar

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Project Introduction
  2. 2Robot Hardware and Software Framework Design
  3. 3Motor Drive Unit Selection
  4. 4Robot Main Frame Design
  5. 5ODrive Driver Modification
  6. 6Main Controller Design and Instructions

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ODrive motor drivers (modified)
  • TLE5012B magnetic encoders
  • Custom main controller PCB (MOCO控制器V1)
  • CAN bus for motor communication
  • USB interface for programming

Connections

  • CAN bus connects ODrive drivers to main controller
  • TLE5012B encoders wired to ODrive drivers
  • SWD interface for firmware flashing on ODrive and main controller
  • USB port for host computer communication