Huge thanks to PCBWAY for supporting this project! We used their assembly services (starting at 29 USD) with the turnkey option, where they can source components from the big distributors like Mouser or DigiKey. If you use my link when signing up, you will get a $5 coupon: https://pcbway.com/g/qBjr2Z
I’ve wanted to build a bipedal robot for a long time – and now it’s finally happening! I’m taking the Disney walking robot as inspiration, but I will make it my own design. The thing I love about it is that it is full of character and animated not only for efficiency but to also to convey emotions in the way it moves.
In this video, I’m designing custom 3D-printed robotic actuators – the core of the robot. Instead of using the typical setup when it comes to a rope/cable drivetrain, I’ve developed a new actuator design (at least I haven’t seen this exact approach before!). It’s not the easiest way, but it’s the path I enjoy.
This DIY project is made possible by PCBWAY’s manufacturing help, and the motor driver runs on the SimpleFOC library with an ESP32 and drv8302 driver. Component cost per motor (excluding the driver) is about $50-60 when building multiples (no exact calculation), though development and iteration always cost more.
0:00 Intro
0:20 Robot breakdown
1:06 Idea and background
2:14 Design
3:10 Stator
3:56 Rotor
5:09 Motor driver
7:15 FOC
8:59 Assembly
12:25 Testing
