Does this skill provide real-time motor feedback?

Yes, it includes functionality to poll and retrieve the current state of any connected actuator, including its current position, velocity, and torque.

How does this integrate with KOS firmware?

It serves as a low-level crate within the KOS stack, allowing the ActuatorService to communicate directly with hardware via the robstride driver.

What hardware does the K-Scale Actuator skill support?

This skill is specifically designed for Robstride servo motors used in K-Scale robotic platforms, utilizing a CAN bus interface at 1Mbps.

Can I adjust motor tuning parameters using this skill?

Yes, the skill allows you to configure specific actuator parameters including Kp, Kd, and torque limits to optimize motor performance.

Which programming language is the actuator library written in?

The library is written in Rust, ensuring high-performance, memory-safe communication with robotic hardware.

K-Scale Actuator Control

Name: K-Scale Actuator Control
Author: plurigrid

byplurigrid

•

その他

Enables precise control of Robstride servo motors on K-Scale robots using Rust-based CAN bus communication.

概要

This skill provides a specialized interface for managing K-Scale robot hardware, specifically focusing on Robstride servo motors. It simplifies complex hardware interactions by offering standardized Rust APIs for position, velocity, and torque control, alongside configuration tools for PID parameters and torque limits. It is an essential tool for developers working on KOS firmware or low-level robotic control systems requiring reliable CAN bus communication at 1Mbps and real-time state feedback.

主な機能

Multi-mode control supporting Position, Velocity, and Torque commands
Dynamic configuration of PID parameters (Kp, Kd) and safety torque limits
Seamless integration with the KOS firmware and Hardware Abstraction Layer (HAL)
Real-time motor state monitoring for position, velocity, and torque feedback
2 GitHub stars
High-speed CAN bus communication interface (1Mbps)

ユースケース

Calibrating and tuning humanoid robot joint controllers for precise motion
Developing and debugging low-level firmware for K-Scale robotic systems
Implementing real-time motion planning and trajectory execution on physical hardware

概要

主な機能

Multi-mode control supporting Position, Velocity, and Torque commands
Dynamic configuration of PID parameters (Kp, Kd) and safety torque limits
Seamless integration with the KOS firmware and Hardware Abstraction Layer (HAL)
Real-time motor state monitoring for position, velocity, and torque feedback
2 GitHub stars
High-speed CAN bus communication interface (1Mbps)

ユースケース

Calibrating and tuning humanoid robot joint controllers for precise motion
Developing and debugging low-level firmware for K-Scale robotic systems
Implementing real-time motion planning and trajectory execution on physical hardware