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Kits · KIT
Leg Actuator Kit (belt-reduced)
Build a leg$319.00
Everything for one dynamic leg/knee joint: a 6374 outrunner, a 3:1 HTD belt reduction, an ODrive-class driver, an AS5047P encoder and the output bearing.
Ships in ~14–21 days
Add to a build
What's in the kit
1×
Outrunner BLDC — 6374 (190 Kv)
$85.00
1×
Big 63 mm outrunner with real torque — robot legs, wheels and heavy dynamic builds.
Belt Reduction Kit — 20T:60T HTD-3M (3:1)
$59.00
1×
A quiet, backdrivable 3:1 belt reduction — 20T + 60T HTD-3M pulleys and belt, 15 mm wide.
FOC Driver — ODESC Single-Axis (ODrive 3.6)
$129.00
1×
Single-axis closed-loop FOC driver that runs stock odrivetool — torque, velocity & position control.
Magnetic Encoder — AS5047P (SPI, 14-bit)
$34.00
1×
The safe default for ODrive — native SPI absolute support.
Thin-Section Output Bearing Set (6805–6812)
$29.00
Large thin-wall deep-groove bearings — the output bearing for a printed QDD actuator. 2-pack.
Specs
| Joint type | Belt-reduced QDD (3:1) |
| Motor | 6374 190Kv |
| Driver | ODESC / ODrive 3.6 |
| Encoder | AS5047P 14-bit |
| Best for | quadruped / biped legs |
Leg Actuator Kit
A quasi-direct-drive leg joint in a box — backdrivable, fast, and strong enough for a mid-size quadruped or biped knee.
- 6374 190Kv outrunner — the muscle
- 3:1 HTD-3M belt reduction — torque + backdrivability
- ODESC (ODrive 3.6) driver — closed-loop FOC
- AS5047P 14-bit encoder
- Thin-section output bearing
Add a magnet pack and wiring kit to finish.
