Can run on Lipo battery. For development I always use an external 24V DC power supply
Walks forward and rearward and steer
Each individual joint is controlled by a dsPIC board I designed. Sampling frequency is 2 kHz for single joints and 1 kHz for dual joints (ankles).
Global control is made by a mini PC connected to the 12 joints through I2C ports along with IMU. Sampling rate is 80 Hz
position sensors (Potentiometers and encoders)
Force sensors on joints
IMU
Home designed / Home made worm gear, bevel gear and linear actuators
Output torque over 10 N.m.