https://blog.caramizaru.xyz/ Sun, 07 Jun 2026 21:50:34 +0000 FeedCreator 1.8 https://blog.caramizaru.xyz/lib/exe/fetch.php/wiki:favicon.ico https://blog.caramizaru.xyz/ https://blog.caramizaru.xyz/doku.php/feed:2024:03:09:building_an_internal_cycloidal_robotic_actuator <p> <br/> </p> <!-- EDIT{&quot;target&quot;:&quot;plugin_wrap_start&quot;,&quot;hid&quot;:&quot;&quot;,&quot;secid&quot;:1,&quot;range&quot;:&quot;0-&quot;} --><div class="wrap_centeralign plugin_wrap"> <h1 class="sectionedit3" id="building_an_internal_cycloidal_robotic_actuator">Building an Internal Cycloidal Robotic Actuator</h1> <!-- EDIT{&quot;target&quot;:&quot;section&quot;,&quot;name&quot;:&quot;Building an Internal Cycloidal Robotic Actuator&quot;,&quot;hid&quot;:&quot;building_an_internal_cycloidal_robotic_actuator&quot;,&quot;codeblockOffset&quot;:0,&quot;secid&quot;:3,&quot;range&quot;:&quot;23-&quot;} --></div><!-- EDIT{&quot;target&quot;:&quot;plugin_wrap_end&quot;,&quot;hid&quot;:&quot;&quot;,&quot;secid&quot;:2,&quot;range&quot;:&quot;0-&quot;} --><iframe src="//www.youtube-nocookie.com/embed/GakFB8Tdd98?" width="520" height="293" style="width:520px;height:293px;" class="vshare vshare__center" allowfullscreen="" frameborder="0" scrolling="no" data-domain="www.youtube-nocookie.com" loading="lazy"><h3></h3></iframe><div class="level1"> </div> <div class="level1"> <hr /> <!-- EDIT{&quot;target&quot;:&quot;plugin_wrap_start&quot;,&quot;hid&quot;:&quot;&quot;,&quot;secid&quot;:4,&quot;range&quot;:&quot;0-&quot;} --><div class="wrap_centeralign plugin_wrap"> <p> <a href="https://www.youtube.com/redirect?event=video_description&amp;redir_token=QUFFLUhqbjNjdkItMHU5VWtaSmQ4Tm9SUnhWME95aG94Z3xBQ3Jtc0tuYUZVU1VreFJRdl85amVZYjlBeDZRMFVxdGZFd000bFFfNG1xTHRPUV9VSjZ5Mmpwb05vbmxlQXBVOFBOZFJHcHN4d0hzSUFubWphejhUOXB1RzFoak1Ycms3NVNMWUV4WWpJZDdsbjA1RzlodktRZw&amp;q=https%3A%2F%2Fwww.aaedmusa.com%2Fprojects%2Finternalcycloidalactuator&amp;v=GakFB8Tdd98" class="urlextern" title="https://www.youtube.com/redirect?event=video_description&amp;redir_token=QUFFLUhqbjNjdkItMHU5VWtaSmQ4Tm9SUnhWME95aG94Z3xBQ3Jtc0tuYUZVU1VreFJRdl85amVZYjlBeDZRMFVxdGZFd000bFFfNG1xTHRPUV9VSjZ5Mmpwb05vbmxlQXBVOFBOZFJHcHN4d0hzSUFubWphejhUOXB1RzFoak1Ycms3NVNMWUV4WWpJZDdsbjA1RzlodktRZw&amp;q=https%3A%2F%2Fwww.aaedmusa.com%2Fprojects%2Finternalcycloidalactuator&amp;v=GakFB8Tdd98" rel="ugc nofollow">Project Overview</a> </p> <p> <a href="https://www.youtube.com/redirect?event=video_description&amp;redir_token=QUFFLUhqa05aaEU2aGVjaDU1aEpGakgxSjE2YnRhVGE4d3xBQ3Jtc0tuZUtVSHdNLUtabTZMbU5ucHNjNDA1cWRkWjk5RlB4Qk9UQnFyekx4Umo1RUI4Tjd2MkFNemREVWtSR2VaV0ZkaG9TQmRSWGpGV0lyQkxfc2hMRGhOT2NuNEtGNlFiQ2E3Y2otM2VtSnpUek9mSXF0WQ&amp;q=https%3A%2F%2Fgithub.com%2Faaedmusa%2FInternal-Cycloidal-Actuator&amp;v=GakFB8Tdd98" class="urlextern" title="https://www.youtube.com/redirect?event=video_description&amp;redir_token=QUFFLUhqa05aaEU2aGVjaDU1aEpGakgxSjE2YnRhVGE4d3xBQ3Jtc0tuZUtVSHdNLUtabTZMbU5ucHNjNDA1cWRkWjk5RlB4Qk9UQnFyekx4Umo1RUI4Tjd2MkFNemREVWtSR2VaV0ZkaG9TQmRSWGpGV0lyQkxfc2hMRGhOT2NuNEtGNlFiQ2E3Y2otM2VtSnpUek9mSXF0WQ&amp;q=https%3A%2F%2Fgithub.com%2Faaedmusa%2FInternal-Cycloidal-Actuator&amp;v=GakFB8Tdd98" rel="ugc nofollow">CAD and BOM</a> </p> <p> <a href="https://www.youtube.com/redirect?event=video_description&amp;redir_token=QUFFLUhqbGNkc0phWnh6elR6QXBSeUFoU3pUMDBWZ1dDZ3xBQ3Jtc0trUTNfV1RnQU5xcHF5c1F3dWg0ODdKOVQzTEpZaTdjOGZqeEs4Y2FEem16bmdxcER0cm94QzBSNXp3VmUtUVhNcFdUZ0V0aEYtS1BhZDYwZTU2YnRUVFFtc2piRzFOT1Mtb2pWaEEwQV9LWm9YN1pMWQ&amp;q=https%3A%2F%2Fwww.bavaria-direct.co.za%2Fscheme%2Fcalculator%2F&amp;v=GakFB8Tdd98" class="urlextern" title="https://www.youtube.com/redirect?event=video_description&amp;redir_token=QUFFLUhqbGNkc0phWnh6elR6QXBSeUFoU3pUMDBWZ1dDZ3xBQ3Jtc0trUTNfV1RnQU5xcHF5c1F3dWg0ODdKOVQzTEpZaTdjOGZqeEs4Y2FEem16bmdxcER0cm94QzBSNXp3VmUtUVhNcFdUZ0V0aEYtS1BhZDYwZTU2YnRUVFFtc2piRzFOT1Mtb2pWaEEwQV9LWm9YN1pMWQ&amp;q=https%3A%2F%2Fwww.bavaria-direct.co.za%2Fscheme%2Fcalculator%2F&amp;v=GakFB8Tdd98" rel="ugc nofollow">BLDC Winding Configuration</a> </p> <p> <a href="https://dspace.mit.edu/handle/1721.1/118671" class="urlextern" title="https://dspace.mit.edu/handle/1721.1/118671" rel="ugc nofollow">A low cost modular actuator for dynamic robots(MSc. Thesis Katz Benjamin G, MIT)</a> </p> </div><!-- EDIT{&quot;target&quot;:&quot;plugin_wrap_end&quot;,&quot;hid&quot;:&quot;&quot;,&quot;secid&quot;:5,&quot;range&quot;:&quot;0-&quot;} --><!-- EDIT{&quot;target&quot;:&quot;plugin_wrap_start&quot;,&quot;hid&quot;:&quot;&quot;,&quot;secid&quot;:6,&quot;range&quot;:&quot;0-&quot;} --><div class="wrap_centeralign plugin_wrap"> <p> <strong>Abstract</strong> </p> </div><!-- EDIT{&quot;target&quot;:&quot;plugin_wrap_end&quot;,&quot;hid&quot;:&quot;&quot;,&quot;secid&quot;:7,&quot;range&quot;:&quot;0-&quot;} --> <p> This thesis details the hardware and control development for a low-cost modular actuator, intended for use in highly dynamic robots. A small 12 degree of freedom quadruped robot has built using these actuators, on which several control experiments have been performed. Despite the relatively low cost of the actuators, the quadruped has demonstrated unprecedented dynamic behaviors for a robot of this scale and number of degrees of freedom, such as a full 360° backflip from standing on flat ground. Several other implementations of these actuators are also discussed, a including bilateral teleoperation and haptic feedback system and a 6 degree of freedom lower-body biped robot. </p> <div class="tags"><span> <a href="https://blog.caramizaru.xyz/doku.php/tag:robotics?do=showtag&amp;tag=robotics" class="wikilink1" title="tag:robotics" rel="tag">robotics</a>, <a href="https://blog.caramizaru.xyz/doku.php/tag:actuators?do=showtag&amp;tag=actuators" class="wikilink1" title="tag:actuators" rel="tag">actuators</a>, <a href="https://blog.caramizaru.xyz/doku.php/tag:diy?do=showtag&amp;tag=DIY" class="wikilink1" title="tag:diy" rel="tag">DIY</a>, <a href="https://blog.caramizaru.xyz/doku.php/tag:mechatronics?do=showtag&amp;tag=mechatronics" class="wikilink1" title="tag:mechatronics" rel="tag">mechatronics</a> </span></div> <p> <br/> </p> <p> <ul class="socialite"><li class="icon"><a class="twitter" target="_blank" href="https://twitter.com/intent/tweet?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&text=">Twitter</a></li><li class="icon"><a class="facebook" target="_blank" href="http://www.facebook.com/sharer.php?u=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F">Facebook</a></li><li class="icon"><a class="googleplus" target="_blank" href="https://plus.google.com/share?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F">Google+</a></li><li class="icon"><a class="linkedin" target="_blank" href="https://www.linkedin.com/shareArticle?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&title=&summary=&mini=true&source=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F">LinkedIn</a></li><li class="icon"><a class="pinterest" target="_blank" href="https://pinterest.com/pin/create/button/?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&description=">Pinterest</a></li><li class="icon"><a class="tumblr" target="_blank" href="http://www.tumblr.com/share/link?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&description=">Tumblr</a></li><li class="icon"><a class="reddit" target="_blank" href="http://www.reddit.com/submit?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&title=">Reddit</a></li><li class="icon"><a class="taringa" target="_blank" href="http://www.taringa.net/widgets/share.php?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&body=">Taringa</a></li><li class="icon"><a class="stumbleupon" target="_blank" href="http://www.stumbleupon.com/submit?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&title=">StumbleUpon</a></li><li class="icon"><a class="telegram" target="_blank" href="https://telegram.me/share/url?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&text=">Telegram</a></li><li class="icon"><a class="hackernews" target="_blank" href="https://news.ycombinator.com/submitlink?u=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&t=">Hacker News</a></li><li class="icon"><a class="xing" target="_blank" href="https://www.xing-share.com/app/user?op=share;sc_p=xing-share;url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F">Xing</a></li><li class="icon"><a class="vk" target="_blank" href="https://vk.com/share.php?url=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F&title=&description=&noparse=true">Vk</a></li><li class="icon"><a class="email" target="_blank" href="mailto:?subject=&body=https%3A%2F%2Fblog.caramizaru.xyz%2Fdoku.php%2F: ">Email</a></li></ul> </p> </div> anonymous@undisclosed.example.com (Anonymous) robotics actuators diy mechatronics Sat, 09 Mar 2024 08:59:21 +0000