Öppen källkod Fyrfota
ODRI Solo-12
En vridmomentstyrd öppen källkod fyrdubblad från Open Dynamic Robot Initiative (MPI, NYU och partners): 12 DoF, 2,5 kg och hopfällbar, med ställdon, elektronik och kontrollprogramvara alla öppna.
- Typ
- Fyrfotad
- DoF
- 12
- Vikt
- 2,5 kg
- Vikt
- 45 × 30 × 6 cm
- Ställdon
- anpassade 9:1 remdrivna moduler
- Kostnad
- ej publicerad (Solo-8-material ≈ 4 000 €)
- Öppna hårdvara och öppna kod
- Fullständig materialförteckning med leverantörslänkar
- Direktlänkar till original-CAD, kod och papper
01 — Projektdetaljer
Översikt, BOM och resurser
Overview
Each Solo-12 leg has hip abduction, hip flexion and knee joints, enough for jumps and flips. At its core is an open actuator module — 3D-printed housing, two-stage 3:1 belt reduction and a drone brushless motor, at just 150 g.
The same actuator builds Solo-8, a 6-DoF biped and robotic fingers. The electronics (Master Board + Micro Driver) and control interface are open too.
Key specifications
| Actuator | T-Motor Antigravity 4004 300KV + 9:1 belt drive + Broadcom AEDT-9810 encoder; 2.5 N·m at 12 A |
|---|---|
| Drivers | 6 × Micro Driver Board v2 + Master Board v2 (ESP32, Ethernet / WiFi) |
| IMU | Lord Microstrain 3DM-CX5-25 |
| Structure | FDM PC-ABS or SLS shells; Multijet / SLA precision pulleys |
Bill of materials
The official BOM lists parts, quantities and suppliers without prices (mostly European suppliers; quote on request).
| Part | Model / spec | Qty | Link |
|---|---|---|---|
| Solo-12 v1 robot (×1) | |||
| 3DOF Leg | 3DOF Leg Documentation | 4 | |
| Master Board v2 | 1 | github.com ↗ | |
| Micro Driver Board v2 | Micro Driver Documentation | 6 | |
| Inertia Measurement Unit | 1 | microstrain.com ↗ | |
| Body Structure Back | 1 | ||
| Body Structure Bottom | 2 | ||
| Body Structure Center | 1 | ||
| Body Structure Center Handle | 1 | ||
| Body Structure Center Vicon | 1 | ||
| Body Structure Front | 1 | ||
| Body Structure Hip AA Support | 4 | ||
| Body Structure Side | 4 | ||
| Body Structure Top IMU | 1 | ||
| Body Structure Top Master Board | 1 | ||
| Led Cover | 1 | ||
| Hip Adapter | 2 | ||
| Spacer Micro Driver Stack | 16 | ||
| Hip AA Bearing | 25mm x 20mm x 4mm ; ET2520 2Z VA | 4 | sbn.de ↗ |
| Fasteners Body Structure Side | M3x12 Socket Head Cap Screw | 16 | online-schrauben.de ↗ |
| Fasteners Body Structure Center | M3x8 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Fasteners Hip AA Actuator Modules | M2,5x10 Socket Head Cap Screw | 16 | online-schrauben.de ↗ |
| Fasteners Hip AA Support | M3x14 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Fasteners Micro Driver Stack | M2,5x25 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Fasteners IMU | M2,5x16 Slotted Screw ; Conrad 839940-62 | 3 | |
| Helicoil M3 x 4,5mm | 32 | hoffmann-group.com ↗ | |
| Vicon Markers Ø 9,5mm | 13 | vicon.com ↗ | |
| Fasteners Vicon Markers | M4x10 Set Screw | 13 | online-schrauben.de ↗ |
| Solo-12 v1 — robot stand | |||
| Stand Fork | 2 | ||
| Stand Foot | 4 | ||
| Slotted Profile Vertical | 2 | us-product.item24.com ↗ | |
| Slotted Profile Horizontal | 1 | us-product.item24.com ↗ | |
| Angle Bracket | 4 | product.item24.de ↗ | |
| Fastener Stand Fork | M8x25 Flat Head Screw | 2 | online-schrauben.de ↗ |
| Fastener Stand Foot | M5x20 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Rubber Feet | 4 | export.rsdelivers.com ↗ | |
| Leg 3-DoF v1 (×4 per robot) | |||
| Core Components | Actuator Module Core v1 ; Actuator Module Core v1.1 | 3 | |
| Hip AA Module Shell Base | 1 | ||
| Hip AA Module Shell Cover | 1 | ||
| Hip FE Module Shell Base | 1 | ||
| Hip FE Module Shell Cover | 1 | ||
| Upper Leg Module Shell Base | 1 | ||
| Upper Leg Module Shell Cover | 1 | ||
| Lower Leg v2 | 1 | ||
| Lower Leg v3 | 1 | ||
| Rubber Foot | Bicycle tire - for example: Schwalbe Lugano 28" 23-622 | ||
| Fasteners M3x35 | M3x35 Socket Head Cap Screw | 2 | |
| Fasteners M3x22 | M3x22 Socket Head Cap Screw | 2 | |
| Fasteners M3x16 | M3x16 Socket Head Cap Screw | 2 | |
| Fasteners M3x12 | M3x12 Socket Head Cap Screw | 2 | |
| Washer M3 | 2 | ||
| Fasteners M2,5x6 | M2,5x6 Socket Head Cap Screw | 12 | |
| Fasteners M2,5x10 | M2,5x10 Socket Head Cap Screw | 15 | |
| Helical Inserts M2,5x3,75 | Hoffmann 082814 M2,5 ; McMaster 91732A767 | 27 | |
| Actuator Module Core v1 (×3 per leg, ×12 per robot) | |||
| T-Motor Antigravity 4004 300kV | 1 | ||
| Encoder Broadcom AEDT-9810-Z00 | 1 | digikey.com ↗ | |
| Codewheel for Encoder AEDT-9810-Z00 | 1 | ||
| Timing Belt Conti Synchroflex AT3 GEN III | width: 4mm / length: 150mm / 50 teeth ; Timing belt first stage | 1 | |
| Timing Belt Conti Synchroflex AT3 GEN III | width: 6mm / length: 201mm / 67 teeth ; Timing belt second stage | 1 | |
| Bearing Output Shaft | 32mm x 25mm x 4mm ; EZO bearing 61705 2RS VA | 2 | |
| Bearing Motor Shaft and Center Shaft | 8mm x 4mm x 2mm ; EZO bearing MR84 VA | 3 | |
| Bearing Timing Belt Tensioner | 7mm x 3mm x 3mm ; EZO bearing 683 2Z VA | 2 | |
| Encoder Codewheel PWB Mount | 1 | ||
| Transmission Pulley AT3 T30 Center | 1 | ||
| Transmission Pulley AT3 T30 Output | 1 | ||
| Timing Belt Tensioner Roller 10mm | 2 | ||
| Motor Shaft | PDF drawing | 1 | |
| Motor Pulley | PDF drawing | 1 | |
| Center Pulley | PDF drawing | 1 | |
| Fasteners Encoder | M3 x 16 Philipps Flat Head Screw | 2 | conrad.com ↗ |
| Fasteners Motor | M3 x 5 Flat Head Screw | 4 | online-schrauben.de ↗ |
| Fasteners Timing Belt Tensioner | M3 x 10 Flat Head Screw | 2 | online-schrauben.de ↗ |
| Washers Timing Belt Tensioner | M2,5 Washer | 2 | online-schrauben.de ↗ |
| Helical Insert Output Shaft | Helicoil M3 x 6 | 2 | mcmaster.com ↗ |
| Broadcom Encoder Kit AEDM-5810-Z12 | 1 | digikey.com ↗ | |
| Codewheel Mount Encoder Kit | 1 | ||
| Bearing Timing Belt Tensioner | SKF # 623-2Z ; 10mm x 3mm x 4mm | 2 | qualitybearingsonline.com ↗ |
| Fasteners Timing Belt Tensioner | M3 x 10 Flat Head Screw | 2 | online-schrauben.de ↗ |
| Washers Timing Belt Tensioner | M3 Washer | 2 | mcmaster.com ↗ |
| v1.1 autonomy upgrade (battery / wireless, optional) | |||
| Power Management Board | 1 | github.com ↗ | |
| LiPo Battery SLS X-Cube 850mAh | 2 | ||
| E-Stop Switch | RS 820-7587 | 1 | |
| On-Off Switch | RS 820-7593 | 1 | |
| Status Led Ring | Adafruit 1643 ; Mouser 485-1643 ; Conrad 1516560 | 1 | |
| Body Structure Center Payload | 2 | ||
| Body Structure Front Batterie Lid | 2 | ||
| Body Structure Front Batterie | 2 | ||
| Body Structure Top IMU Leds | 1 | ||
| Body Structure Top Master Power Board | 1 | ||
| Mount Switches | 1 | ||
| Neo Pixel Cover | 1 | ||
| Fastener M2 x 6 SHCS | 8 | ||
| Fastener M2,5 x 6 SHCS | 1 | ||
| Fastener M2,5 x 8 SHCS | 1 | ||
| Fastener M3 x 6 SHCS | 4 | ||
| Helicoil M2,5 x 3,75mm | 10 | ||
| Helicoil M3 x 4,5mm | 20 | ||
3D printing & fabrication
- Large parts (shells, body) in FDM or SLS — MPI prints PC-ABS on a Stratasys Fortus at 0.178 mm layers.
- Small precision parts such as pulleys need Multijet or SLA; the LED cover needs clear material.
- Print along the STL’s +Z axis and watch the bearing-seat tolerances.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Project page ↗open-dynamic-robot-initiative.github.io
- Hardware repository ↗github.com
- Solo-12 build docs ↗github.com
- Master board firmware ↗github.com
- Control interface ↗github.com
- Paper arXiv:1910.00093 ↗arxiv.org
License
Hardware and control interface BSD-3-Clause; master-board BSD-2-Clause.
Image credits
- Image 1: Open Dynamic Robot Initiative (NYU & MPG) · BSD 3-Clause — source ↗
- Image 2: Open Dynamic Robot Initiative (NYU & MPG) · BSD 3-Clause — source ↗
- Image 3: Open Dynamic Robot Initiative (NYU & MPG) · BSD 3-Clause — source ↗
- Image 4: Open Dynamic Robot Initiative (NYU & MPG) · BSD 3-Clause — source ↗
- Image 5: Open Dynamic Robot Initiative (NYU & MPG) · BSD 3-Clause — source ↗
- Image 6: Open Dynamic Robot Initiative (NYU & MPG) · BSD 3-Clause — source ↗
Källa: Bilder och data: Open Dynamic Robot Initiative (GitHub open-dynamic-robot-initiative och arXiv:1910.00093). Hårdvara BSD-3-klausul, masterkort BSD-2-klausul. Denna sida är inte ansluten till det ursprungliga projektet.
Skaffa delar
Var kan man få tag i delarna
Varje rad i stycklistan länkar till den leverantör som det ursprungliga teamet använde. Behöver du hjälp med att köpa delar eller 3D-printa strukturen? Berätta för oss vilken robot du bygger.
02 — Relaterade robotar
