Hello,May I ask how many types of motor combinations are allowed in OPENEXO? (For example, two hip motors, or one hip motor and one ankle motor. I have seen relevant introductions on the wiki before, but now I forget where exactly this introduction is located.)
Additionally, if I do not use the CubeMars AK-series motors specified in the open-source project and instead use another type of motor that supports the CAN protocol, is it feasible? (Currently, I have one ROBSTRIDE02 motor and two ROBSTRIDE03 motors available, all of which support the CAN protocol.)
If feasible, what modifications are needed to replace the motors?I sincerely look forward to your reply.
The released PCB works with 4 motors; you can pick and choose which joints, like 2 ankle + 2 hip, or 2 hip + 1 elbow +1 ankle). The limited factor is the number of CAN connectors on the PCB. You could modify the design to add more. We may release a design for 6 motors at some point.
You can use other motor types. If they are controlled via CAN, it should be straight forward.
please read the Wiki for adding a new motor type: https://wiki.theopenexo.org/app/page/1zRunTHMOxZTEpNt3-hnTD48s33pb-QDmZuwtvhc8fwI?p=14AIGjap02Wv8jPJxyezvfYJYFVIJIoO1
- Regarding the single-joint mode, please refer to the SD Card setup here. In the SD card setup guide, there is a section where you can specify whether your exoskeleton is a left-side, right-side, or bilateral system.
- Regarding the number of motors: If you connect the CAN motors one by one directly to the PCB using the MOLEX connectors, the upper limit is four. If you're willing to use an extension cable or modify the PCB to include more CAN connectors, you should be able to significantly increase the number of supported motors. The next limitation is the joint IDs predefined in the codebase (check enum class joint_id in ParseIni.h). By default, we support one motor per "joint." However, this "joint" definition is purely software-based; nothing stops you from assigning a “left hip” motor to the "right knee." With the current implementation, the limit is eight motors.
What motor configuration are you thinking about?
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