MIT Mini Cheetah Actuator
Переглядів 110,162
День томуThis time I've tested the MIT Mini Cheetah Actuator!!! This is a great part for robot! I know that many my viewers are interested in this technology (quasi direct drive (QDD)), because it provides affordable and capable actuators. So I bought this actuator to play with it and to show you how it works. It uses CAN bus for control. So I learned how to do this and I share this knowledge with you. Like this you don't need to spend your time searching about CAN bus.
Link to the Actuator: www.aliexpress.com/item/32985...
Special thank you to my special Patron: Wesley Corp! Thank you for your longtime support!
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#robotics #robot #actuator
@Skyentific 4 роки тому
Please do not hesitate to put your comment, to like and to share this video! This will help to promote the video in the UKposts algorithm. More views, more subs, more likes = more builds, more robots, better robots. Thank you a lot!
4 роки тому
I didn't understand the sentence at the begining of the video. You said that if robot jumps the actuator doesn't get broken because of ?
@Skyentific 4 роки тому
High gear ration actuators cannot sustain high impact. Thus if the robot has traditional harmonic drive actuator, when it jumps it can easily break actuators during the landing. The quasi direct drive actuators (like the one in this video) can manage this kind of load easily.
4 роки тому
Thank you for the answer.
@christophemalvasio5569 4 роки тому
rpi/jetson can bus ?
@AlexanderBukh 4 роки тому
Не читАх, а чИта. Или чИИтаа
@Will_Huff 4 роки тому
I really like this actuator. I will order one and test. I can see how these can become very useful in my robots! Thank you for posting.
@AB-gd8hn 4 роки тому
1. Please do a tear down and show the planetary gears and the motor windings. 2. Please test the torque and positional accuracy
@rodstartube 4 роки тому
3. Please test the position backlash
@jimtaylor8123 4 роки тому
@@rodstartube From the thesis: "The actuator has roughly 0.005 rad (0.28∘ ) of backlash at the output from its planetary geartrain, as it uses off-the-shelf gears and no mechanisms for compensating backlash."
@ahmedsenary206 4 роки тому
@@jimtaylor8123 do u know what is the max continuous rpm for this motor?
@cedricpod 4 роки тому
very nice information in this thread .... i always like confirmation
@unerror 4 роки тому
You somehow always manage to address my very specific interest areas :) I'm seriously considering making my first patreon contribution to you. Keep up the good work!
@Skyentific 4 роки тому
Thank you for your super kind comment!
@abcqer555 4 роки тому
Do it Yigit :) I signed up too because I love his content and want to support it. Just start off at $1 and go from there.
@sammflynn6751 4 роки тому
Sir, thanks a lot,can't thank you enough for such awesome content
@IISH4RKZzII 4 роки тому
Thank you for this amazing review.
@Skyentific 4 роки тому
Thank you for your comment!
@BretWrightSTUFF 4 роки тому
Thank you for explaining CAN Bus!!
@Redmwafia 4 роки тому
Finally. I really appreciate your video. that gonna be helpful for my robot arm
@mystamo 4 роки тому
That is some bit of tech.. Wow, has my mouth watering. Useful for a small robot arm rotation axis.
@HassanOmariprofile 4 роки тому
I wish I knew about your channel before, thanks alot :)
@Skyentific 4 роки тому
Thank you!
@chinmoytahbildar3278 4 роки тому
love your videos... keep growing
@Skyentific 4 роки тому
Thank you!
@azayles 4 роки тому
Love that is has built in temperature measurement! Very handy :D
@Skyentific 4 роки тому
Yes! I always wanted to have this feature in actuator!
@guardianpresencerobotics7776 4 роки тому
Seems like preprocess data on the build in chip
@katerinarostova4312 4 роки тому
Smart approach, you cracked it!
@Skyentific 3 роки тому
Katerina Rostova thank you! :)
@PetkoDim 4 роки тому
как всегда интересно! СПАСИБО!
@LTForcedown 4 роки тому
Great video, thanks for bringing this actuator to my attention! I am currently working on my own motor controller and was planning on making something similar, so I was wondering if you were planning on taking it apart. It would be very instightful to me!
@CarlBugeja 4 роки тому
Interesting video and motor! I didn't knew these motors had so many internal control features
@ciarfah 4 роки тому
Carl Bugeja Oh hey, it's the flappy PCB guy! Love your work
@hugobracamontesbaltazar 4 роки тому
Thank you very much for the video. Regards.
@PierreFreyssinet 4 роки тому
Hey, Skyentific ! You might not remember me but we spoke together some time ago and I even briefly supported your project via Patreon. Anyways, just saw that you will have a booth (n°106) at MakerFaire Paris 2019. Guess what : we'll have a booth just next to yours. I am delighted.
@warhammer495 4 роки тому
Good work! Good video.
@Skyentific 4 роки тому
Thank you! :)
@javierdariosanjuandecaro3290 3 роки тому
Dear Skyentific, I love all your videos! I was wondering if you can make a video explaining a little more the control of the motor using can bus?
@casainho 4 роки тому
Very good, the firmware and CAN bus explanation. I think everyone is curious about the actuator, I wish more Chinese companies can build and sell them more cheap, so in future we can build the various robots more as OpenSource, like what is Arduino but a personal robot.
@Skyentific 4 роки тому
I think this time is coming! And soon we will have a lot of robots everywhere :)
@ArnaudMEURET 4 роки тому
Using hex notation for 1 bit values. That’s what I call belt and suspenders. 😁👍
@GeorgeDolbier 4 роки тому
Excellent Video! When I saw the MIT cheetah a few months ago, I immediately thought I wanted to duplicate that shoulder actuator. I did a search on ali express, but what I found looked like a scam. BUT YOU FOUND IT. Excellent. But $329 with the original driver, 269 without. For my project I would need 6 of them, which is way too expensive for a hobby project. Now, I wonder if a DIY version could be built with less expensive components, I think I'd start with a 3d printed plastic housing, that custom machined aluminum housing must be a good amount of the expense. I bet the reduction gears are also custom machined, or cast, steel. Thanks again for the review.
@AndrewMerts 4 роки тому
The gears are most likely sintered, you don't cast gears. Some gears are machined out of a round piece of stock. A DIY version might not be too crazy of an idea, MIT manufactured them in house IIRC. If you don't care about shaving off every little bit of weight a lot of the features on the housing could be eliminated. If you didn't care about keeping the exact same form factor you could try changing the design to be able to use existing mass produced sintered gears for the planetary reduction. Maybe even just replace the planet carrier with a custom machined one so that you still get that same output face and the spot for the center support bearing for the motor shaft to keep the length down.
@tekparautomatyka9474 4 роки тому
Another great video! I also would like to ask You, will You do some tests with the hold torque, to see how does it work and how the temperature is changing then? What about the resolution, on Your video, You were changing the position from 1 to 254, so it means that there is only 8 bit resolution? Or maybe I missed something.
@lingxuanzhao7172 4 роки тому
Great video! Thank you! Does this motor support torque control?
@kentvandervelden 4 роки тому
Very interesting! Does not seem too terribly costly given all the integrated hardware.
@AndersJackson 3 роки тому
Nice video, as usual. If you do a better serial output, you can plot data in the arduino IDE in a graph.
@Skyentific 3 роки тому
Thank you. I did exactly this in today video with T-motor actuator. :)
@phillevchenko1156 4 роки тому
Now that's a really cool building block for a cobot. I wonder, what kind of precision can you get with 300mm-400mm arms in 5 DOF configuration. Also interesting about its internal construction - if backlash will increase by much after some use..
@Skyentific 4 роки тому
Great questions! I need to check this.
@mariomlinaric9861 2 роки тому
Good day, and thank you for great videos. Did you ever experiment with hoverboard 350w brushless wheel motors (they are cheap) with additional magnetic encoder and if you did what would be the best driver to drive them by STEP and DIRECTION signal? Thank you very much.
@rudisoft 4 роки тому
I love your channel! This seems to be the most adequate bldc motor for DIY robotics, that‘s certain. Please, which controller did you put inside? In case it‘s the one that Ben Katz designed, let us know if where and how you had it manufactured. In case you used one of Ben‘s china copies let us know which.
@neilkwei4776 4 роки тому
China copy company name: steadywin. copycat website: www.steadywin.cn/. their product website: www.aliexpress.com/item/32985671853.html. The copycat even not mention the originator Ben Katz, shame on them.
@kamoliddinnarbaev8206 4 роки тому
Great video! I have the simpler MCP2515 (broken one that you have). Can you comment on how to connect that to the ARDUINO??
@arthurkautz5999 4 роки тому
Have you seen the Dynamixel line of servos from robotis? They are not brushless but provide bus connectivity and feedback for temperature and current.
@KlemenZhivko 4 роки тому
Great review, please add missing details for example how to turn motor continuously. Can you contact producer to let you know that details.
@Vidicon31 4 роки тому
That can interface that you found defective has a 8mhz crystal while most libraries seem to assume that its 16mhz this will result at transmitting at half speed. i got it to work with the CAN library by Sandeep Mistry. You need to add CAN.setClockFrequency(8e6); You can also edit the MCP2515.h file at line 13 to change the default . there you change #define MCP2515_DEFAULT_CLOCK_FREQUENCY 16e6 to #define MCP2515_DEFAULT_CLOCK_FREQUENCY 8e6
@Skyentific 4 роки тому
Wow! Great! Thank you a lot! I will try it!!!
@Vidicon31 4 роки тому
@@Skyentific Good luck. Ps have you tried socketCAN? It gives you tools like a cansniffer and cansend. I'm using the canable with candlelight firmware.
@skln68 4 роки тому
@Skyentific did you try in the end with the cheaper arduino module (with 8 MHz crystal)?
@cedricpod 4 роки тому
will you do some speed and torque tests on it ?
@Skyentific 4 роки тому
I plan, but may be in a couple of weeks. I am very busy now with the design and build of the 7DoF robot arm.
@skipper5811 4 роки тому
I'm impressed, may I know which power supply you used. I don't have any yet & i want to buy the best one.
@Skyentific 4 роки тому
Here I used 24V power supply. I buy them from Stepperonline, usually I buy 400W, as it is relatively cheap and powerful.
@vladislav5732 4 роки тому
Great. Spasibo
@Skyentific 4 роки тому
Thank you for your comment!
@babybrus 4 місяці тому
Hello Skyentific, Thank you for this video, really helpful. I would like to know from where can I get example arduino code used in video for reference?
@jonwatte4293 4 роки тому
Have you seen the Robotis Dynamixel servos? You can talk multidrop serial port to them with some simple wiring to the Arduino. The "best bang for buck" models have half the torque of the cheetah, at a quarter of the weight, and 75% of the cost.
@KyranFindlater 4 роки тому
What part number/type of connector do the CAN/Battery connectors use on this integrated driver one? Did it come with some little test connector pig-tails to get started quickly?
@typebin Рік тому
hello sir. I'm very interested in your video and the motor. I wonder if the motor knows its output angle position without uncertainty. The motor has an absolute encoder but it is at the motor shaft. The motor spins several times while the output spins one time. Suppose gear ratio is six, does it mean it has six possible position candidates? If so, how does robots such as MIT cheetah robot deal with it? Do they use another external rotary encoder at the output side ? Or perhaps a homing procedure as we do with stepper motors?
@stefanguiton 4 роки тому
Great stuff! Are you thinking of using these in your robot arm?
@Skyentific 4 роки тому
I don't think so. It is too expensive...
@basementadmin 4 роки тому
How many actuators like this will your arm use?
@basementadmin 4 роки тому
More specifically, what is the budget for the arm you're building?
@abcqer555 4 роки тому
@@basementadmin (ukposts.info/have/v-deo/cHGrnYWwopqWlGQ.html) check out this video, I believe his is aiming for a 6 DOF robot.
@Skyentific 4 роки тому
Wes Corp I don’t want to use this actuator for the arm. It is too expensive :)
4 роки тому
thanks for a video about mini cheetah actuator, do you can make a video about atlas motor? I would like to know more about that
@Skyentific 4 роки тому
Thank you for comment. I would love to make a video about atlas motor, but I don't have one, and I don't know where to get one.
4 роки тому
@@Skyentific would you recommend Mini Cheetah actuator for build a humanoid robot? (for legs, arms) Iam thinking servomotor 100kg vs minicheetah actuator, which is better for humanoid robot, (1.3m of height)
@SergejKolmogorov 4 роки тому
Спасибо! Хорошо объяснил.
@Skyentific 3 роки тому
Sergej Kolmogorov спасибо за комент!
@omidmohseni3557 3 роки тому
@Skyentific When opening the link to the actuator, there are two different actuators shown in the pictures (one in black and one in white). Would you tell me the difference? and how one is able to specify the item he wants when ordering one?
@stefanvandijk7114 3 роки тому
What would you make with these actuators? I would know a couple of awesome projects to start with.
@chrinchiva921 4 роки тому
Excuse me, could you please explain on how to control this motor more with UART communication base on V3 of this actuator.
@diyrobot9455 4 роки тому
Very good, but how much it's torque?
@MohammadSalahuddin-vh5mt Рік тому
Hello sir, Your video is very helpful. Thanks for uploading this type of videos. I have also purchased the AK 80-9 motor from CubeMars. Actually I am unable to rotate the motor by arduino code through CAN. I used the same code which have been used by you. So, could you please help me or could you give link for the same code and library.
@shengminghe6726 3 роки тому
Can you please share the code?
@syncprism6283 3 роки тому
May I know the accurate definition of Quasi Direct Drive (QDD)? I assume Direct drive is that the joint is directly mount onto the motor, then does QDD mean "small reduction ratio" or the fact that reducer is embedded into the motor?
@Skyentific 3 роки тому
Usually QDD means reduction ratio less than 10.
@syncprism6283 3 роки тому
@@Skyentific understood! Thank you for your reply as well as the terrific videos!
@antonwinter630 4 роки тому
great looking product. too pricey for me though !
@funy0n583 3 роки тому
it might be light weight but the mit mini cheetahs actuators are probably lighter because they're open on the sides rather than hiding the stator
@Skyentific 3 роки тому
funy0n Completely agree. But for some reason they don’t make open one.
@funy0n583 3 роки тому
@@Skyentific yes
@saminsiddiquee2059 3 роки тому
Hello. One Question: When the power is on, it is not possible to rotate the actuator by hand. BUT, when the power is off, (no 24 V connected), is it still possible to rotate the actuator by hand and get position values through CAN? Thank you for your cooperation.
@ahmedsenary206 4 роки тому
What's the angular speed during unload and load, kindly?
@vladimirtatarchevskiy5886 4 роки тому
Очень круто, спасибо!
@elninorosario 4 роки тому
What kind of motor is it? .. what's the resolution .. is it stepper?
@SystemsPlanet 4 роки тому
Interesting topic. ACTUATOR $300 is more than a lot of nice servo motors.For example, why not use a Clearpath servo instead? How many of these will your robot arm use? Top speed? What happens when you exceed max torque? CAN BUS Before Makers choose the CAN bus, we need to understand: does it use a clock for timing? speed? sensitivity to drift. signaling method, voltages? topology? mater-slave? initialization sequence? broadcasts supported? are messages acknowledged? any error correction? retries? max # of devices any bus statistics? how are device ids assigned? how to prevent collisions? how susceptible to noise? troubleshooting tools? line monitors? how does it compare to 10/100/1000 Ethernet? are there chips to convert to CAN from other protocols? serial, SPI, etc etc
@MrKRSO 4 роки тому
A Clearpath with the same toque weigh around 11kg and costs around 1k USD.
@ArnaudMEURET 4 роки тому
CAN bus: Given that it’s been how my foot talked to my ABS system when I’ve pressed the brake pedal for the last 25 years, I would say that Makers can safely choose CAN bus for their toys.
@akaZarj 4 роки тому
do u try find good hydraulic actuator ?
@Intro2Love 4 роки тому
im sure that motor can be used for prostetics for disabled people
@izobrr 4 роки тому
How to control more than one drive on the same bus? They have identical addresse by default. I gues you need to programm a custom address for the device and only then connect several of them to one bus?
@Skyentific 4 роки тому
You can easily change the ID of each actuator. For this you need to connect them to CAN one by one and change the address. It should be easy.
@skln68 4 роки тому
Hi, did you try the speed mode? I tried sending the packet to switch to speed mode but after that the motor doeesn't respond to any command...also, when powered on, even if it has the green led lighted, i cannot hear the sound of the motor powered and it has no torque (actually, its not holding the position, so it seems like its not in position control anymore, but doesnt execute speed commands)
@santoshkumar-yh2bc 2 роки тому
Hi skln69 , looks like you have worked on these motors. I would be glad if you can answer few of my queries. Kindly ping me on psantoshsan@gmail.com. i have few doubts about interfacing the motors.
@AvinashBhashkar 4 роки тому
I read a research article I found that mit cheetah has used proprioceptive actuator it does not look like that... As like another rotator to create complaint mechanism... Please correct me... Dose it have that kind of functionality?
@Skyentific 3 роки тому
Fodu Tech this one is similar to MIT Mini Cheetah. Not to MIT Cheetah.
@esaattia 4 роки тому
Hi, really love your review and channel. I just purchased a few of these motors but am struggling to get it to work. Any chance I can get a copy of the arduino code. The documentation is also not the best
@Skyentific 4 роки тому
Write me on instagram or facebook your email, I will send you my Arduino code.
@olegpetroff6186 4 роки тому
spasibo. otlichno! eto luchshiy kanal po robotam
@Skyentific 4 роки тому
Spasibo za kommentariy!
@engserve 4 роки тому
Where did you get the CAN protocol? I bought a motor, but it looks a little different. They have not been responding to my emails. It would be great if you could send me the protocol.
@Skyentific 4 роки тому
I get it from my seller. I can send you my documentation, although I am not sure that the protocol would be the same if you motor is different.
@engserve 4 роки тому
@@Skyentific Yes, it is different. I have since found the right protocol. For others looking for links, look here. drive.google.com/drive/folders/18MTH-pIlA5Aj_5wRNHYVa4wPpjKYbfco?usp=sharing
@superjaykramer 4 роки тому
Is this a closed loop motor?
@itfanr 4 роки тому
Could you teach me about the motor brake mechanism when no supply or power off ?
@ArnaudMEURET 4 роки тому
There is none. It is said in the video.
@itfanr 4 роки тому
@@ArnaudMEURET thanks
@ezequielfarina4559 4 роки тому
Hi, im working with these motors GIM8008 V3 and i was wondering if you could send me the manual. Unfortunately i cant controll the motors and my manual is in chinese. Thank you for your patience
@gerokatseros 4 роки тому
Wow motor, where can someone buy it from? where did you get it?
@ArnaudMEURET 4 роки тому
How about opening the video description?
@ErickMSirpa 4 роки тому
Test it with multiple actuators please
@santoshkumar-yh2bc 2 роки тому
Hello, How can i control this motor in torque mode ?
@reubendyer5151 4 роки тому
nice!
@Skyentific 4 роки тому
Thank you!
@guardianpresencerobotics7776 4 роки тому
Take it a part I feel like there is a build in limiter switch to home the motor or built in encoder put
@guardianpresencerobotics7776 4 роки тому
Lots of preprocessed data on ic and build in sensors
@jonwatte4293 4 роки тому
There's an absolute encoder in it i think.
@user-ck2we6hj2c Рік тому
Does the black part on the motor is a zero position???
@Skyentific Рік тому
No, I don’t think so. I think the black part just cover the wires inside.
@KidoDepp 4 роки тому
is there a cheaper equivalent with less torque?
@QuanrumPresence 4 роки тому
I wanna know the answer too
@jogaraobommana6883 2 роки тому
I want to build a dog robot with 5kg weight including motors and Payload. Could you please advice me a best motor to use?
@user-rz3jw8vz4n 2 роки тому
how to watch the serial data on Mac like yours
@AhmetTasdemirDJLuds 4 роки тому
can you open it and show what it is have inside and how can it is work
@cedricpod 4 роки тому
are you going to take it apart to see how the gearing works ?
@Skyentific 4 роки тому
May be one day. Don't want to brake it immediately, it is quite expensive :)
@miguelangelgamboagamboa8196 4 роки тому
@@Skyentific pleaseeeeeeee hahahahaha
@ArnaudMEURET 4 роки тому
I’m pretty sure it has nothing special. There are billions of planetary gears videos. No need to risk damaging this pricey unit.
@cedricpod 4 роки тому
“pretty sure” is not .... certainty
@ArnaudMEURET 4 роки тому
99guspuppet Fair enough but I wonder what makes you expect anything out of the ordinary in this motor. Especially from the output gear set.
@minhokim5384 4 роки тому
how to buy this motor please....where..
@Skyentific 4 роки тому
Link in the description to this video.
@jskratnyarlathotep8411 4 роки тому
зат зе кан бас кан би рили юзефул фор зе роботикс sorry, i couldn't help myself))
@Ryuuken24 4 роки тому
300 dollars, so two shoulder joints, and two femur joints and you're broke.
@Nicksperiments 4 роки тому
It costs an arm and a leg
@fezbpu 3 роки тому
Thats for a fully integrated motor, encoder, controller, and gearbox. Tbh a good deal
@darkshadowsx5949 4 роки тому
akjuator?
@user-pc5ni9nd7p 4 роки тому
how much is it?
@themaximusone 3 роки тому
Where is a link to the code?
@Dmirty1291 4 роки тому
Богатый и великий русский акцент. Ардуино, резисторс...) Интересно реализован код и достойно объяснен принцип работы кан шины. Отличный видос!
@Skyentific 3 роки тому
Дмитрий пресс Спасибо!
@josephyoung754 3 роки тому
Hi, Can you please share your code? THanks!
@AWoh51EIbvd 4 роки тому
Спасибо интересное видео, ваш акцент вас выдает ))
@Skyentific 4 роки тому
Spasibo za komentarij
@snorttroll4379 2 місяці тому
how many watts
@JosiahLuscher 4 роки тому
What did you say at 1:02? C**t Pass? Con Pass? Oh Compass! Why would an actuator have a compass?
@steadywinformotoractuatorf3686 4 роки тому
CAN-BUS
@trdfs548 4 роки тому
Nice motor but quite expensive I think.
@jonwatte4293 4 роки тому
Compared to the performance, this motor is quite inexpensive. The main problem with hobby robotics is sticker shock; equipment to interact reliably with the real world costs a lot more than software or consumer products sold in the millions. (Also, cost of motors scale by the cube of the size!)
@KyranFindlater 4 роки тому
Alternative motors of similar capabilities are $2000 USD, and usually have ~$1000 drives to run them, and maybe another $1000 controller to be the brains for a bunch of drives.
@GemerRUS 4 роки тому
Хорошее объяснение по работе с CAN шиной. Только я так и не понял,почему он квази директ то? В общем,ждем разборки)
@myetis1990 4 роки тому
If the motor has a harmonic drive instead of the planetary gear , it would be perfect for robot arm I think.
@Skyentific 3 роки тому
Mustafa YETİŞ yes, but it will cost two or three times more.
@hinhtran7506 4 роки тому
Do you share your code?
@Skyentific 4 роки тому
Yes, I wrote you email :) . And you can see the code in the video. It is quite simple.
@dogintwater6454 4 роки тому
where can I get one?
@steadywinformotoractuatorf3686 4 роки тому
you could contact with me .thanks .
@ArnaudMEURET 4 роки тому
Or you could click on the video description
@javierfernandocaroariza5938 2 роки тому
@Skyentific Hello friend, I like your program, I am Colombian, I am building a Robot with multiple capacities, I want to introduce this type of motors to control the legs. I would like to know if this type of motors can be controlled by means of a FrSky X8R Receiver that accepts Telemetry, with a RadioMaster TX16S Transmitter. Thank you, I hope any comment would be useful.
@itfanr 4 роки тому
make it
@evgenyduk7152 4 роки тому
Is it Simpson?
@Skyentific 3 роки тому
Evgeny Duk spider pig, spider pig! :)
@bambumbambu 4 роки тому
you need 11 more motors :)
@cedricpod 4 роки тому
Mr Swan ...... 123 more
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