He was working on an open source hobby project for some time now. As he said on one of his posts, it should go with out saying that there will be errors, "please check" is more than implied. The first PCB doesn't have the ISO901. But it is Ardunio-Compatible M0/Zero/SAMD21 (32bit) with Brushless FET Drivers, some MOSFETs, it has absolute magnetic encoder which works great with brushless motors, it has an EEPROM, switch mode regulator for 3.3V, temperature sensors, a USB and RS485. 30V @ 30A and it costs around ~$US50 to make one.
His new design looks awesome. The robot leg was 3D printed and it uses belts and pulleys to transfer power from the motor to the leg joints. The encoder PCB is behind each motor and using the total encoder, it could preciselly control the position of a 3 phase brushless motor. He managed to place the motors in such a way that the design turn out very compact and it moves smooth. Each leg has 3 motors so it could have 3 axis of movement. We don't have a moving dog vide yet but I sure Paul will post somethign soon.
On his last Instagram post Paul shares a video with the assembled dog. We can't see it moving yet but we can imagine that would be awesome. We can see how each motors fits perfectly, the design is compact and it looks just like those Boston Dynamic robots or even cooler because is 3D printed and homemade. For this type of robots we are looking for fast response of the legs, springiness of the joint together witht the motor and precision for the encoder so we can repeat the movements over and over again.
