Open Robot Actuator Hardware
Complete open-source hardware designs for building low-cost, torque-controlled actuator modules and robotic platforms. Build quadrupeds, bipeds, and manipulators for research and education.
Quick start
Get started building your first actuator module in four steps
Review the actuator module specifications
Start by understanding the core actuator module design. The module weighs 150g, outputs 2.5Nm at 12A, and uses a 9:1 dual-stage timing belt transmission.Learn more in the Actuator Module Core v1 documentation.
Gather required components
You’ll need:
- T-Motor Antigravity 4004 300kV brushless motor
- Broadcom AEDT-9810-Z00 optical encoder (20000 counts/rev)
- AT3 GEN III timing belts (50 and 67 teeth)
- Miniature stainless steel bearings
- 3D printed parts and machined components
Prepare components and assemble
Follow the step-by-step assembly guides:
- Motor preparation - Modify the motor for encoder mounting
- Encoder preparation - Prepare the optical encoder
- Pulley preparation - Prepare transmission components
- Actuator assembly - Complete module assembly
Test and calibrate
Once assembled, test your actuator module and calibrate the encoder zero position. Connect to the electronics (TI evaluation board or micro driver) and verify motor control.See Testing procedures and Calibration guide.
Robot platforms
Build complete robotic systems using the actuator modules
Quadruped Solo8 v2
8-DOF quadruped robot platform with two actuators per leg for dynamic locomotion research
Quadruped Solo12
12-DOF quadruped with three actuators per leg for advanced mobility and manipulation
Biped Bolt
6-DOF bipedal platform for walking and balancing research
TriFinger Edu
Educational manipulation platform with three 3-DOF fingers for dexterous manipulation
Documentation sections
Explore comprehensive guides for every aspect of the hardware
Actuator modules
Core actuator designs, specifications, and component details
Electronics
Motor drivers, master boards, and wiring configurations
Assembly guides
Step-by-step instructions for building actuator modules
Resources
Tools, materials, 3D files, and technical drawings
Reference
Calibration, conventions, and troubleshooting information
Robot platforms
Complete robot designs and integration guides
Join the community
Connect with researchers and developers building with the Open Dynamic Robot Initiative
Forum
Ask questions and share your projects on the ODRI forum
GitHub
Contribute to the hardware designs and software stack
YouTube
Watch robot demonstrations and assembly tutorials
Research paper
Read the academic publication describing the hardware design
Ready to build your robot?
Start with the overview to understand the hardware architecture, then dive into the actuator module documentation
Get Started Now