Hardware Overview

The hardware stack centers on quasi-direct drive (QDD) actuators communicating over a CAN bus. This combination gives low-inertia, back-drivable joints with real-time control at millisecond latency — essential for compliant legged robots.

Component Stack

Layer	Component	Role
Actuator	Robstride 00	Joint torque / position output
Drive	QDD (no gearbox or 1:6 planetary)	Back-drivability, low reflected inertia
Bus	CAN 2.0B @ 1 Mbit/s	Real-time multi-drop motor comms
Host	Linux PC or embedded SBC	High-level control loop

Sections

Why quasi-direct drive? Torque density, impedance control, and comparison with harmonic drives.

QDD Theory

Electrical specs, connector pinout, LED status codes, and mechanical mounting.

Robstride 00

Frame format, multi-drop wiring, termination resistors, and interface cards.

CAN Protocol