Actuator Hardware Node
Omni-Joint Beta Node
A modular, high-torque Quasi-Direct Drive actuator node engineered specifically for contact-rich bipedal and quadrupedal locomotion.
Licensing Structure
Actuator Node Deployment Quote
✓ Pre-calibrated Torque Control & Hardware Replacement GuaranteeQuasi-Direct Drive (QDD) servo driver stack with integrated cycloidal gearhead and custom CAN-FD control board.
Architecture & Overview
The Omni-Joint Beta Node combines low-backlash cycloidal gearing with an integrated high-frequency FET driver board. Embedded sensors measure input/output torque at 2,000 Hz, allowing immediate current clamping during unforeseen physical impacts.
Key Technical Deliverables
- Quasi-Direct Drive topology for high back-drivability.
- Integrated thermal and over-current protection hardware.
- Compact aluminium alloy housing with IP67 sealing.
- Pre-calibrated PID and impedance torque control loops.
Sample Integration InterfaceCONFIDENTIAL R&D
// omni_joint_can.cpp
#include "omni_joint.h"
OmniJointActuator joint1(ID_HIP_PITCH, CAN_BUS_0);
void setup() {
joint1.begin(5000000); // 5 Mbps CAN-FD
joint1.setTorqueLimit(35.0); // Clamped at 35 Nm
}
void loop() {
joint1.updateImpedance(target_pos, target_vel, Kp, Kd);
}Hardware & Software Matrix
Peak Torque48 Nm (Continuous 22 Nm)
Gear Reduction8:1 Cycloidal Gearhead
Communication BusCAN-FD (5 Mbps) & RS-485
Position Encoder18-bit Absolute Dual Magnetic Encoder