开源 四足机器人
ODRI Solo-12 四足机器人
开放动态机器人计划（ODRI，马普所与纽约大学等）的开源力矩控制四足机器人：12 个自由度、2.5 kg，可折叠，执行器、电路板和控制软件全部开源。
- 类型
- 四足
- 自由度
- 12
- 重量
- 2.5 kg
- 折叠尺寸
- 45 × 30 × 6 cm
- 执行器
- 自研 9:1 同步带模块
- 成本
- 官方未公布（Solo-8 材料约 4,000 欧元）
- 开源硬件与开源代码
- 完整物料清单，附购买链接
- 直达原项目的图纸、代码和论文
01 — 项目详情
概况、物料清单与资料
项目概况
Solo-12 每条腿有髋外展、髋屈伸和膝 3 个关节，能做跳跃、翻转等动态动作。它的核心是一个开源执行器模块：3D 打印外壳 + 两级 3:1 同步带减速 + 无人机无刷电机，单模块只有 150 g。
同一套执行器还能组成 Solo-8、6 自由度双足和机械手指。控制板（Master Board + Micro Driver）和控制接口也一并开源。
关键参数
| 执行器 | T-Motor Antigravity 4004 300KV + 9:1 同步带 + Broadcom AEDT-9810 编码器；12 A 时 2.5 N·m |
|---|---|
| 电机驱动 | 6 × Micro Driver Board v2 + Master Board v2（ESP32，以太网 / WiFi） |
| IMU | Lord Microstrain 3DM-CX5-25 |
| 结构 | FDM PC-ABS 或 SLS 外壳；Multijet / SLA 精密带轮 |
物料清单 BOM
官方 BOM 有零件、数量和供应商，但没有单价（多为欧洲供应商，需询价）。
| 零件 | 型号 / 规格 | 数量 | 链接 |
|---|---|---|---|
| 整机 Solo12 v1（×1） | |||
| 3DOF Leg | 3DOF Leg Documentation | 4 | |
| Master Board v2 | 1 | github.com ↗ | |
| Micro Driver Board v2 | Micro Driver Documentation | 6 | |
| Inertia Measurement Unit | 1 | microstrain.com ↗ | |
| Body Structure Back | 1 | ||
| Body Structure Bottom | 2 | ||
| Body Structure Center | 1 | ||
| Body Structure Center Handle | 1 | ||
| Body Structure Center Vicon | 1 | ||
| Body Structure Front | 1 | ||
| Body Structure Hip AA Support | 4 | ||
| Body Structure Side | 4 | ||
| Body Structure Top IMU | 1 | ||
| Body Structure Top Master Board | 1 | ||
| Led Cover | 1 | ||
| Hip Adapter | 2 | ||
| Spacer Micro Driver Stack | 16 | ||
| Hip AA Bearing | 25mm x 20mm x 4mm ; ET2520 2Z VA | 4 | sbn.de ↗ |
| Fasteners Body Structure Side | M3x12 Socket Head Cap Screw | 16 | online-schrauben.de ↗ |
| Fasteners Body Structure Center | M3x8 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Fasteners Hip AA Actuator Modules | M2,5x10 Socket Head Cap Screw | 16 | online-schrauben.de ↗ |
| Fasteners Hip AA Support | M3x14 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Fasteners Micro Driver Stack | M2,5x25 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Fasteners IMU | M2,5x16 Slotted Screw ; Conrad 839940-62 | 3 | |
| Helicoil M3 x 4,5mm | 32 | hoffmann-group.com ↗ | |
| Vicon Markers Ø 9,5mm | 13 | vicon.com ↗ | |
| Fasteners Vicon Markers | M4x10 Set Screw | 13 | online-schrauben.de ↗ |
| 整机 Solo12 v1（×1） - 支架 Robot Stand | |||
| Stand Fork | 2 | ||
| Stand Foot | 4 | ||
| Slotted Profile Vertical | 2 | us-product.item24.com ↗ | |
| Slotted Profile Horizontal | 1 | us-product.item24.com ↗ | |
| Angle Bracket | 4 | product.item24.de ↗ | |
| Fastener Stand Fork | M8x25 Flat Head Screw | 2 | online-schrauben.de ↗ |
| Fastener Stand Foot | M5x20 Socket Head Cap Screw | 8 | online-schrauben.de ↗ |
| Rubber Feet | 4 | export.rsdelivers.com ↗ | |
| 3自由度腿 Leg 3dof v1（整机需×4） | |||
| Core Components | Actuator Module Core v1 ; Actuator Module Core v1.1 | 3 | |
| Hip AA Module Shell Base | 1 | ||
| Hip AA Module Shell Cover | 1 | ||
| Hip FE Module Shell Base | 1 | ||
| Hip FE Module Shell Cover | 1 | ||
| Upper Leg Module Shell Base | 1 | ||
| Upper Leg Module Shell Cover | 1 | ||
| Lower Leg v2 | 1 | ||
| Lower Leg v3 | 1 | ||
| Rubber Foot | Bicycle tire - for example: Schwalbe Lugano 28" 23-622 | ||
| Fasteners M3x35 | M3x35 Socket Head Cap Screw | 2 | |
| Fasteners M3x22 | M3x22 Socket Head Cap Screw | 2 | |
| Fasteners M3x16 | M3x16 Socket Head Cap Screw | 2 | |
| Fasteners M3x12 | M3x12 Socket Head Cap Screw | 2 | |
| Washer M3 | 2 | ||
| Fasteners M2,5x6 | M2,5x6 Socket Head Cap Screw | 12 | |
| Fasteners M2,5x10 | M2,5x10 Socket Head Cap Screw | 15 | |
| Helical Inserts M2,5x3,75 | Hoffmann 082814 M2,5 ; McMaster 91732A767 | 27 | |
| 执行器模块核心 Actuator Module Core v1（每腿×3，整机×12） | |||
| T-Motor Antigravity 4004 300kV | 1 | ||
| Encoder Broadcom AEDT-9810-Z00 | 1 | digikey.com ↗ | |
| Codewheel for Encoder AEDT-9810-Z00 | 1 | ||
| Timing Belt Conti Synchroflex AT3 GEN III | width: 4mm / length: 150mm / 50 teeth ; Timing belt first stage | 1 | |
| Timing Belt Conti Synchroflex AT3 GEN III | width: 6mm / length: 201mm / 67 teeth ; Timing belt second stage | 1 | |
| Bearing Output Shaft | 32mm x 25mm x 4mm ; EZO bearing 61705 2RS VA | 2 | |
| Bearing Motor Shaft and Center Shaft | 8mm x 4mm x 2mm ; EZO bearing MR84 VA | 3 | |
| Bearing Timing Belt Tensioner | 7mm x 3mm x 3mm ; EZO bearing 683 2Z VA | 2 | |
| Encoder Codewheel PWB Mount | 1 | ||
| Transmission Pulley AT3 T30 Center | 1 | ||
| Transmission Pulley AT3 T30 Output | 1 | ||
| Timing Belt Tensioner Roller 10mm | 2 | ||
| Motor Shaft | PDF drawing | 1 | |
| Motor Pulley | PDF drawing | 1 | |
| Center Pulley | PDF drawing | 1 | |
| Fasteners Encoder | M3 x 16 Philipps Flat Head Screw | 2 | conrad.com ↗ |
| Fasteners Motor | M3 x 5 Flat Head Screw | 4 | online-schrauben.de ↗ |
| Fasteners Timing Belt Tensioner | M3 x 10 Flat Head Screw | 2 | online-schrauben.de ↗ |
| Washers Timing Belt Tensioner | M2,5 Washer | 2 | online-schrauben.de ↗ |
| Helical Insert Output Shaft | Helicoil M3 x 6 | 2 | mcmaster.com ↗ |
| Broadcom Encoder Kit AEDM-5810-Z12 | 1 | digikey.com ↗ | |
| Codewheel Mount Encoder Kit | 1 | ||
| Bearing Timing Belt Tensioner | SKF # 623-2Z ; 10mm x 3mm x 4mm | 2 | qualitybearingsonline.com ↗ |
| Fasteners Timing Belt Tensioner | M3 x 10 Flat Head Screw | 2 | online-schrauben.de ↗ |
| Washers Timing Belt Tensioner | M3 Washer | 2 | mcmaster.com ↗ |
| v1.1 自主升级（电池/无线，选配） | |||
| Power Management Board | 1 | github.com ↗ | |
| LiPo Battery SLS X-Cube 850mAh | 2 | ||
| E-Stop Switch | RS 820-7587 | 1 | |
| On-Off Switch | RS 820-7593 | 1 | |
| Status Led Ring | Adafruit 1643 ; Mouser 485-1643 ; Conrad 1516560 | 1 | |
| Body Structure Center Payload | 2 | ||
| Body Structure Front Batterie Lid | 2 | ||
| Body Structure Front Batterie | 2 | ||
| Body Structure Top IMU Leds | 1 | ||
| Body Structure Top Master Power Board | 1 | ||
| Mount Switches | 1 | ||
| Neo Pixel Cover | 1 | ||
| Fastener M2 x 6 SHCS | 8 | ||
| Fastener M2,5 x 6 SHCS | 1 | ||
| Fastener M2,5 x 8 SHCS | 1 | ||
| Fastener M3 x 6 SHCS | 4 | ||
| Helicoil M2,5 x 3,75mm | 10 | ||
| Helicoil M3 x 4,5mm | 20 | ||
3D 打印与制造
- 大件（外壳、机身）用 FDM 或 SLS：MPI 用 Stratasys Fortus 打 PC-ABS，层厚 0.178 mm。
- 同步带轮等小型精密件用 Multijet 或 SLA 打印；LED 罩用透明材料。
- 按 STL 的 +Z 方向打印；注意外壳轴承座的公差。
图纸、程序与论文
大文件（CAD、STL、STEP、代码仓库）请直接从原项目获取：
- 项目主页 ↗open-dynamic-robot-initiative.github.io
- 硬件仓库 ↗github.com
- Solo-12 装配文档 ↗github.com
- 主控板固件 master-board ↗github.com
- 控制接口 odri_control_interface ↗github.com
- 论文 arXiv:1910.00093 ↗arxiv.org
开源协议
硬件与控制接口 BSD-3-Clause；master-board BSD-2-Clause。
图片来源与授权
- 图 1：Open Dynamic Robot Initiative（NYU & MPG） · BSD 3-Clause — 来源 ↗
- 图 2：Open Dynamic Robot Initiative（NYU & MPG） · BSD 3-Clause — 来源 ↗
- 图 3：Open Dynamic Robot Initiative（NYU & MPG） · BSD 3-Clause — 来源 ↗
- 图 4：Open Dynamic Robot Initiative（NYU & MPG） · BSD 3-Clause — 来源 ↗
- 图 5：Open Dynamic Robot Initiative（NYU & MPG） · BSD 3-Clause — 来源 ↗
- 图 6：Open Dynamic Robot Initiative（NYU & MPG） · BSD 3-Clause — 来源 ↗
来源：图片与资料来源：Open Dynamic Robot Initiative（GitHub open-dynamic-robot-initiative 与论文 arXiv:1910.00093）。硬件 BSD-3-Clause，master-board BSD-2-Clause。本站与原项目无隶属关系。
获取零件
去哪里买零件
物料清单里的每一项都附有原团队使用的购买链接。需要帮忙采购零件或代打 3D 打印件？告诉我们你在做哪一台机器人。
02 — 相关机器人
