Quadruped robot walking gait at 1000 fps

This is the result of some tuning I did on the direct drive actuator version of my quadruped robot. The outer controller is purely position based, with a few fudges to adjust the control gains on the individual servos at various points in the cycle.

#robot #walking #robotactuator

[jonathanflores]

Hey Josh awesome project! I was wondering, do you think the brushless motors will able to hold the hole weight of the system without the gear reduction box inside the motors? Thank you.