Re:Using OpenAI Gym to train an open-source 3D printed robot
by GistNoesis on Monday January 27, 2020 @07:25PM
(#22165257)
It is also possible to use current sensing to measure torque.
ODrive + brushless + encoder (~150€ per axis) can provide current measurements, though you may need to create some PID loop.
If the brushless solution is still too expensive. You can use 775 brushed motors + encoder + BTS 7960 driver + (optional gearbox) (They have current sensing by using additional resistance (Edit:and RC filter) ) (10€-50€ per axis from china). Although that's not powerful enough for jumping robots.
ODrive + brushless + encoder (~150€ per axis) can provide current measurements, though you may need to create some PID loop.
If the brushless solution is still too expensive. You can use 775 brushed motors + encoder + BTS 7960 driver + (optional gearbox) (They have current sensing by using additional resistance (Edit:and RC filter) ) (10€-50€ per axis from china). Although that's not powerful enough for jumping robots.