The latest firmware update improves the bandwidth of the position and torque PID controller.
8-DOF quadruped robot
Power supply : Lipo 2S (16V)
Motors : 8x MAD 5008 240KV
Encoder : 8x AS5048A (14bit absolute position, PWM output)
ESC : 8x B-G431B-ESC1 discovery kit by ST
https://www.st.com/en/evaluation-tools/b-g431b-esc1.html
Host controller: M5Stack Fire
3d printed planetary gear box (1:4.5). Gear Module 1 (ABS and PLA)
3d printed legs (PLA)
28 ball bearings per leg
Femur 80mm
Tibia 150mm
Leg weight ~150gr
Home-made FOC algorithm with position / velocity / torque control runing at 16KHz (50us processing time, using STM32G4 CORDIC)
Velocity limited to 10.000Ā°/s
Acceleration limited to 100.000Ā°/sĀ²
Motor current limited to 3A (max filtered Iq).
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