Bleg

Open-source, low cost quadruped leg design with BLDC actuator.

Videos

File Structure

/hardware - CAD, STL exports, CAM file
/electronic - Motor driver(Odrive v3.6), Main controller brd, Encoder brd
/sim - V-rep simulation, python wrapper

Pics

Reducer

Encoder

Motor

Parts

Leg assembly

License

MIT License

Contact

Shuang Peng, {shuangpe}@usc.edu