DigiNews

Summary

CARA 2.0 is a detailed documentation of building a low-cost quadruped robot using capstan drives. It covers actuation hardware, motor rewinding to increase torque, troubleshooting with inexpensive controllers and CAN bus firmware, a capstan drive joint test stand, a redesigned symmetrical leg, a top-mounted electronics box, and gait and stability improvements, concluding with lessons learned and a shift toward off-the-shelf actuators for future projects.