Direct-drive quadruped robot
Ghost Minitaur™ is a medium-sized legged robot platform. Its high-torque brushless outrunner motors and specialized leg design let this machine run and jump over difficult terrain. High-speed and high-resolution encoders let the machine see the ground through the motors and adapt faster than the blink of an eye.
Easy to use: the robot can be driven around by joystick out of the box, using different gaits.
Versatile legged machine: the 2DOF legs are good for more than just running. They can sense and exert precise forces, and do basic manipulation.
Sensor integration: industry-standard Picatinny rails and onboard SPI, I2C and UART ensure that additional sensors can enable autonomy.
Unique: Minitaur is the first direct-drive legged robot using conventional rotary electric motors.
Running speed: 2.0 m/s
Turning speed: 1 rad/s
Sideways crabbing speed: 0.04 m/s
Vertical jump displacement: 0.48 m
Length (hip to hip): 0.4 m
Width (toe to toe, standing height): 0.28 m
Mass: 6 kg
Endurance: 20 minutes (heavy use)
Gait Research: the four 2DOF legs can be programmed with a wide variety of gaits (including bounding, pronking, walking, and trotting) to explore the tradeoffs of efficiency and power at various speeds and with different payloads
Sensor Platform: in addition to the internal IMU and excellent proprioception, Minitaur is an great sensor platform capable of moving sensors around in the environment as well as controlling the field of view
- Fully assembled Minitaur quadrupedal robot
- Arduino-compatible robot microcontroller based on STM32F303 @ 72+ MHz with micro SD logging and all necessary software
- Robot remote control
- Battery: 4S (16.8V) hardcase LiPo
- Picatinny rail system for payload/sensor/manipulator attachment
- Full operation manual (online) describing basic robot operation as well as custom gait and behavior development and additional sensor integration
- Spare battery