Tinymovr: Dealing with an unexpected glitch

In this post I wanted to focus on Tinymovr firmware improvements and plan out the next steps, however an unexpected glitch had me spending all my development time on it and thus the rest of the updates have been pushed back a bit. Last week I put together a “torture test” for Tinymovr with the

Tinymovr R3 Update

Tinymovr R3 boards have recently arrived from China and I’ve been busy testing and improving things all over. Bottom line, they perform very well so far! The new MA702 encoder really makes a difference as angular position tracking is now super responsive and able to handle even the most vigorous accelerations. Due to the improved

Building a better 3D printer

Two years ago I made the unfortunate mistake of pledging for the Obsidian 3D printer campaign on Kickstarter. It turned out to be a really lousy investment, seeing that as of this point, more than two years later, nothing has been delivered and no real prospect of delivery of any sort of product is in

Designing a Brushless Quadruped Robot

Brushless motors are changing the landscape in robotics. Coupled with precise closed-loop control, they are able to deliver excellent power to weight ratio but most importantly, they are transparent in the sense that external forces acting on the mechanism are reflected on the motor and vice versa. This leads to mechanisms that are actively compliant,

On ankle mechanics

Stand up on your toes. If you stay there for a while you’ll feel your calf muscles tension. Precisely how much force are the calf muscles exerting on your feet? This is an important question in designing humanoid robots, as the answer largely affects component and motor sizing of the robot. The human foot, simplified