Manipulator
The manipulator is the first major milestone of the Bipedal Robot project. Building and controlling a robotic arm validates the full hardware-software stack — CAN bus, QDD actuators, kinematics, and control — before tackling the additional complexity of locomotion.
Why a Manipulator First?
- Stationary platform — no balance required, easier to debug
- Shared hardware — same Robstride 00 actuators and CAN driver as the legs
- Control fundamentals — impedance control, trajectory planning, and workspace limits are all needed for both arms and legs
- Useful outcome — a working arm has standalone research and demo value
Target Specification
| Property | Target |
|---|---|
| DOF | 6 (3 shoulder + 1 elbow + 2 wrist) |
| Reach | ~600 mm |
| Payload | 1–2 kg at full extension |
| Actuators | 6× Robstride 00 |
| Comm | Single CAN bus, IDs 0x01–0x06 |
| Control rate | 1 kHz |
Sections
Link lengths, joint layout, DH parameters, and CAD notes.
Mechanical DesignForward and inverse kinematics derivation and Python implementation.
KinematicsImpedance control, trajectory generation, and gravity compensation.
ControlThe manipulator shares the same Robstride00 Python driver from the Software section. No additional firmware is needed.
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