Brain Storm

Wheeled Configuration:

Feature Geared DC Motor BLDC Motor
Pros High Torque
Affordable
Easy to control		 Long lifespan
High RPM
Highly efficient
Cons Short lifespan
Low RPM
Low Efficiency		 Expensive
Requires ESC
  • I believe we should use a geared DC motor for the wheeled configuration because it meets system specs at the most affordable price.
  • Use an external encoder for closed loop feedback.
    • Input: Shaft position
    • Output: PWM duty cycle

Legged Configuration:

  • Fundamentally different motor architecture
  • A quadruped requires more motors, and each requires higher rated torque than wheeled configuration.
  • Makes more sense to use servos since they’re affordable, have built in angle feedback, and are easier to integrate
  • I propose design that the wheeled configuration be the base version, with an additional legged motor controller board that can be plugged in
  • The legged motor controller board will have the motor drivers necessary to the servos.