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Open Dynamic Robot Initiative

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

This website is the entry point to the ressources of the Open Dynamic Robot Initiative. This project originated in an effort to build a low cost and low complexity actuator module using brushless motors that can be used to build different types of torque controlled robots with mostly 3D printed and off-the-shelves components. This module, and extensions, can be used to build legged robots or manipulators. A paper describing the actuator module and the quadruped design can be found here. A paper describing the TriFinger Manipulator Platform and real-time reinforcement learning experiments can be found here.”

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