ODRI Master Board
Driver / Controllerby Open Dynamic Robot Initiative (MPI-IS / LAAS-CNRS) · used in 3 robots in the database
Technical specifications
| Main chip | ESP32-WROOM-32D (C++ / esp-idf firmware) |
| Ethernet | Wired via LAN8720A PHY, raw frames, 0.2 ms RTT (127-byte msg) |
| Wi-Fi | ESP-NOW link, 1.2 ms RTT (127-byte msg) |
| SPI | Up to 8 uDriver boards, up to 80 MHz, DMA |
| Control rate | 1 kHz closed loop over Wi-Fi or Ethernet |
| IMU | Dedicated UART connector (Lord Microstrain 3DM-CX5-25) |
| Supply voltage | 5–60 V DC, onboard 1 A 3.3 V regulator |
| GPIO | 4 free GPIO; PROG connector for USB-serial flashing |
| v2 additions | WS2812B RGB LED, IMU connector, upgraded regulator |
Open-hardware ESP32-based master board: Ethernet/WiFi real-time link to up to 8 SPI micro-driver boards + IMU
Used by
Sassa
Gepetto Team, LAAS-CNRS · 2023
Solo 12
Open Dynamic Robot Initiative (MPI-IS, NYU, LAAS-CNRS); commercialized by PAL Robotics · 2021
Solo 8
Open Dynamic Robot Initiative (MPI-IS, NYU, LAAS-CNRS) · 2019
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