Auto-assembled, not yet reviewed

ODRI Open Robot Actuator Hardware (Solo / Bolt)

Open actuator module plus Solo8/Solo12 quadruped, Bolt biped and TriFinger hardware; overlaps the Solo-12 page.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to open-dynamic-robot-initiative/open_robot_actuator_hardware: 2022-09-06 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility80/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
ODRI Open Robot Actuator Hardware (Solo / Bolt) open-source 12-DoF leg actuator module, 3D render from biped_6dof_v1.STEP
main assembly 3D · biped_6dof_v1.STEP

About ODRI Open Robot Actuator Hardware (Solo / Bolt)

The Open Dynamic Robot Initiative publishes open hardware for modular brushless actuators and the legged robots built from them (Solo and Bolt). This page covers the actuator and biped hardware repository: mechanical STEP, STL and CAD files, BLMC micro-driver electronics, wiring images and actuator assembly documentation. Upstream lists parts and suppliers but no complete costed total.

Licenses

Hardware
BSD-3-Clause
Software
Not published
Docs
Not published

Degrees of freedom

12 DoF

No per-group breakdown has been sourced yet.

Actuator moduleRobot familysource

How to build ODRI Open Robot Actuator Hardware (Solo / Bolt)

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Build the actuator modules

    Follow the step-by-step guides: prepare motors and shafts, modify and mount encoder codewheels, machine/prepare the AT3 pulleys, assemble the shells, and test each module on the bench.

    Motari summarygithub.com/open-dynamic-robot-initiative/open_robot_actuator...

  2. Fabricate electronics

    Order the MicroDriver v2 boards assembled from the provided Eagle and Gerber files, solder the precision resistors and Hirose connectors, get a Master Board, and flash the MicroDrivers with an XDS100V2 JTAG emulator.

    Upstream stepgithub.com/open-dynamic-robot-initiative/open_robot_actuator...

  3. Assemble the robot

    Print the shells and body structure parts, then assemble the chosen platform (Solo8, Solo12 or Bolt) per its mechanics README, mounting the actuator modules into the legs and body.

    Motari summarygithub.com/open-dynamic-robot-initiative/open_robot_actuator...

  4. Wire and route

    Wire motor phases, encoders, and SPI/power per details_wiring.md and the per-robot wire-routing guides; connect micro-drivers to the master board over SPI.

    Motari summarygithub.com/open-dynamic-robot-initiative/open_robot_actuator...

  5. Calibrate and control

    Run the ODRI robot calibration procedure, then drive torque-controlled gaits from the host PC via the master board over Ethernet.

    Motari summarygithub.com/open-dynamic-robot-initiative/open_robot_actuator...
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

ODRI Open Robot Actuator Hardware (Solo / Bolt) bill of materials

6 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

ODRI Open Robot Actuator Hardware (Solo / Bolt) parts, as the source lists them (read 2026-06-06). Prices are the source's, not checked against vendors.

ODRI Open Robot Actuator Hardware (Solo / Bolt) bill of materials
PartQtySpecSourceConfidence
T-Motor Antigravity 4004 300kVactuator-module motor row
1brushless outrunner motor, two motors per set note in source
T-Motor / Globeflightprice not listedmechanics/actuator_module_v1/README.md line 142
high
Broadcom AEDT-9810-Z00 encoderactuator-module encoder row
1encoder without codewheel
Mouser / DigiKeyprice not listedmechanics/actuator_module_v1/README.md line 143
high
PWB encoder codewheelcodewheel for AEDT-9810-Z00
1625 CPR 3K codewheel with index, ID 7 mm / OD 25.56 mm
PWB Encoders GmbHquote requiredmechanics/actuator_module_v1/README.md line 144
high
Conti Synchroflex AT3 timing beltsfirst and second transmission stages
2150 mm x 4 mm and 201 mm x 6 mm belts
Reiff / Beltingonlineprice not listedmechanics/actuator_module_v1/README.md lines 145-146
high
EZO output shaft bearing 61705 2RS VAoutput shaft bearing row
232 x 25 x 4 mm stainless bearing
EZO / SBN / bearing suppliersprice not listedmechanics/actuator_module_v1/README.md line 147
high
Machined and printed pulley/shaft partsmotor shaft, motor pulley, center pulley, output pulley, printed mounts
1drawings and STL files listed in actuator README
self-machine / 3D print yourselfprice not listedmechanics/actuator_module_v1/README.md lines 150-156
high

Rows from the source's own parts list 41

electronics/details/details_components.md@66af152markdown

Source rowQtyPrice and vendorLine
Open Dynamic Robot Initiative - Webpage
open-dynamic-robot-initiative.github.iono price listed
L361
Open Dynamic Robot Initiative - YouTube Channel
youtube.comno price listed
L362
Open Dynamic Robot Initiative - Forum
odri.discourse.groupno price listed
L363
Open Dynamic Robot Initiative - Paper
arxiv.orgno price listed
L364
Software Overview
github.comno price listed
L366

mechanics/actuator_module_v1/details/details_3d_printed_parts.md@66af152markdown

Source rowQtyPrice and vendorLine
Unnamed source row
vendor not listedno price listed
L113
Unnamed source row
vendor not listedno price listed
L117
Unnamed source row
vendor not listedno price listed
L123

mechanics/actuator_module_v1/details/details_machined_parts.md@66af152markdown

Source rowQtyPrice and vendorLine
Unnamed source row
vendor not listedno price listed
L70
Unnamed source row
vendor not listedno price listed
L74
Unnamed source row
vendor not listedno price listed
L80

mechanics/actuator_module_v1/README.md@66af152markdown

Source rowQtyPrice and vendorLine
T-Motor Antigravity 4004 300kV
1
T-Motor StoreGlobeflight # 1974no price listed
L142
Encoder Broadcom AEDT-9810-Z00
1
Mouser # 630-AEDT9810Z00DigiKey # 516-3256-NDno price listed
L143
Codewheel for Encoder AEDT-9810-Z00
1
PWB Encoders GmbH # 104768pwb-encoders.comno price listed
L144
Timing Belt Conti Synchroflex AT3 GEN III width: 4mm / length: 150mm / 50 teeth Timing belt first stage
1
Reiff # 60047626Beltingonlineno price listed
L145
Timing Belt Conti Synchroflex AT3 GEN III width: 6mm / length: 201mm / 67 teeth Timing belt second stage
1
Reiff # 60005258Beltingonlineno price listed
L146
Bearing Output Shaft 32mm x 25mm x 4mm EZO bearing 61705 2RS VA
2
Emiliana CuscinettiDoppiaemmeno price listed
L147
Bearing Motor Shaft and Center Shaft 8mm x 4mm x 2mm EZO bearing MR84 VA
3
Emiliana CuscinettiDoppiaemmeno price listed
L148
Bearing Timing Belt Tensioner 7mm x 3mm x 3mm EZO bearing 683 2Z VA
2
Emiliana CuscinettiDoppiaemmeno price listed
L149

22 more rows in mechanics/actuator_module_v1/README.md

ODRI Open Robot Actuator Hardware (Solo / Bolt) source files

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

ODRI Open Robot Actuator Hardware (Solo / Bolt) in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from mechanics/biped_6dof_v1/cad_files/STEP/biped_6dof_v1.STEP at 66af152.

Builds of ODRI Open Robot Actuator Hardware (Solo / Bolt)

0 reviewed

No reviewed builds of ODRI Open Robot Actuator Hardware (Solo / Bolt) yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to open-dynamic-robot-initiative/open_robot_actuator_hardware: 2022-09-06 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source-pinned parts; cost not verified.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain ODRI Open Robot Actuator Hardware (Solo / Bolt)? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 80/100

Markdown
[![Motari reproducibility score for ODRI Open Robot Actuator Hardware (Solo / Bolt)](https://motari.io/api/v1/badge/odri-actuator-hardware)](https://motari.io/r/odri-actuator-hardware)
HTML
<a href="https://motari.io/r/odri-actuator-hardware"><img src="https://motari.io/api/v1/badge/odri-actuator-hardware" alt="Motari reproducibility score for ODRI Open Robot Actuator Hardware (Solo / Bolt)" height="20"></a>

Not fully met yet: bom evidence (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed