MIT Mini Cheetah is very capable robot. I've decided to look at its brushless controller. Fortunately, it is open source, so we can build it! The two most interesting features for me are the simple control protocol and very fast torque measurements. I plan to do some interesting tests with it, in order to evaluate, if it is useful for robot arms too. By the way, the robot arms from HERMES robot (MIT) use the actuators, similar to MIT Mini Cheetah.

Special thanks to my special Patrons: Wesley Corp, RobotDigg Shanghai, Pierre Freyssinet, M. Aali and Shounak Bhattacharya!

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#DIY #Brushless #Robotics