Λ M U L E T

ΛMULET is a high-power brushless motor controller, compatible with the moteus firmware. It was specifically designed to be integrated in EPFL Xplore's Legged Robot actuators.

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SPECIFICATIONS

Parameter	ΛMULET V1.0
Voltage Input	12-44V
Peak Electrical Power	TBD
Mass	TBD
Peak Phase Current	100A
Communication	5Mbps CAN-FD
Cooling	12V Fan
Positioning	2x Onboard 14-bit Encoders
Control rate	15-30kHz
PWM Switching Rate	15-60kHz
MCU	STM32G474
Dimensions	69.7 x 76.7mm

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DIRECTORY STRUCTURE

amulet_controller
├── Computations     # Misc calculations
├── DXF_SVG          # Vector graphics
├── Images           # Pictures and screenshots
├── Logos            # Xplore and Amulet logos
├── Manufacturing
│   |── Assembly     # Position files, BOM, assembly document
|   |   └── ibom     # HTML BOM
|   └── Fabrication  # Fabrication document and testpoints positions
|       └── Gerbers  # Gerbers
├── STEP_Blender     # 3D STEP and pcb2blender file
├── Schematic        # PDF of schematic
├── Templates        # Title block templates
└── lib
    |── 3d_models    # Component 3D models
    |── lib_fp       # Footprint libraries
    └── lib_sym      # Symbol libraries

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FIRMWARE

Associated firmware is forked from the moteus repository.

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CREDITS

Schematic is hugely inspired by the moteus controllers designed by Josh Pieper. They were modified to meet our own specifications, and to follow what I personally consider good layout practices.

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PHOTOS