Minimal Unit
Mechanical Leg Module
Full-DOF Lower Limb Actuation
A complete unilateral leg assembly integrating hip, knee, and ankle joints with full degrees of freedom. Designed as the minimal deployable unit for bipedal locomotion research and modular robot construction.
Technical Specifications
Performance Profile
Key Features
Engineered for Performance
Full Joint Coverage
Integrates all 6 freedoms of the hip, knee, and ankle joints into a single self-contained mechanical assembly.
Linkage-Driven Actuation
Quasi-direct drive with linkage mechanism delivers high torque transparency while maintaining an optimal torque-to-weight ratio across all joints.
Torque Transparency
Minimal gearing loss provides direct-drive-like torque feedback, enabling precise force control and natural interaction dynamics.
Zero Hysteresis
Rigid linkage mechanism eliminates elastic deformation between motor and joint axes, ensuring the output torque matches the input with near-perfect linearity.
Full Back-drivability
Every joint is freely back-drivable, allowing natural passive motion and intuitive manual posing during research and deployment.
Human-Safe Voltage
Operates on a 24V DC supply — keeping peak system voltage within the human-safe threshold for intuitive handling and research deployment.
Onboard IMU
Each leg ships with a localized 9-axis IMU for real-time inertial feedback and zero-latitude joint state estimation.
Modular Mounting
Standardized interface plate allows unattached deployment or seamless integration into the bipedal platform subsystem.
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