Torque Limited Simple Pendulum
Robot / hardware buildSingle-actuator pendulum control testbench with a fabricated mount/lever, source CAD and Python simulation/controller implementations. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10]
Build & first use →Official websiteUpstream build guideBill of materials
- For
- Underactuated-control researchers and educators comfortable with Python and actuator/CAN setup [1]
- Cost
- No current cost yet. Upstream bill of materials [7]
- Source rights
- Named licenses are documented by part. Review licenses
- Unknowns
- host computer, tools, operating system not fully established. Review gaps
Source researched · Not tested by us
Sources checked · Research details
Licenses & related hardware
- License
- BSD-3-Clause · Details by part
Overview
Torque Limited Simple Pendulum is a single-actuator underactuated-control testbench with a fabricated mount/lever, end mass, simulation models and controller implementations. Its short mechanical BOM names one T-Motor AK80-6, a folded-aluminium mount, sandwich lever and nominal half-kilogram weight with its fixture. It is distinct from a rotary inverted-pendulum mechanism. [1] [3] [7]
Is this for you?
- Known limitations
- Legacy Python declarations and mostly unpinned dependencies do not establish a tested modern environment.
- STEP export is an exchange assembly, not a validated native parameterized model.
- Short mechanical BOM is not a complete host/tools/CAN/power/delivery/tax budget.
Editorial source-scope assessment; no execution, fit or compatibility test.
[1] [2] [3] [4] [5] [6] [7] [8] [9] [10] · Editorial assessment
What you need
- Dependencies
- Docs declare Python>=3.6,<4; current dependency compatibility not established
- Minimal pip install from software/python differs from all/drake/crocoddyl/RL extras
- Host CAN interface, matching actuator/controller firmware and separate power/stop setup for hardware
Hardware & parts
Assembly & first use
Open the upstream getting-started guide [1]
- Start with the minimal software/model route and match the one-motor mechanical/electrical configuration before physical experiments.
- Follow the selected source installation/configuration route only after reconciling the stated version, hardware and dependency gaps.
Editorial source-scope assessment; no execution, fit or compatibility test.
[1] [2] [3] [4] [5] [6] [7] [8] [9] [10] · Editorial assessment
Cost
No current, complete configuration-specific build cost has been established for this profile.
A short mechanical BOM is not a full first-working budget
The source hardware guide describes a host communicating over CAN with the AK80-6 controller, with R-LINK described as Windows-only and PCAN-USB as also supporting Linux. The documented R-Link configuration/calibration tool runs on Windows, a separate requirement from Linux CAN communication. Current compatibility was not tested. It also discusses supply, backEMF and a stop circuit that disconnects the actuator from stored energy. These are upstream electrical notes, not a circuit validated for another motor or power source. Reconcile the exact interface, firmware and power/stop configuration before any powered work. [3] [4]
Host computing, CAN hardware, power/stop parts, fabrication, tools, delivery and tax are not fully accounted for by the short mechanical list. No current complete price is reported. The root BSD-3-Clause project notice does not open the bought-in actuator or clear unrelated vendor assets. No native CAD load, fit check, fabrication, wiring, motor calibration or physical experiment was performed. [2] [7] [9]
3D preview
Preview not available yet. Original assembly STEP bytes and file structure were inspected; no hosted preview or CAD-kernel fit validation has been performed. Match the selected configuration and third-party components before reusing geometry.
Model sources
Original assembly STEP bytes and file structure were inspected; no hosted preview or CAD-kernel fit validation has been performed. Match the selected configuration and third-party components before reusing geometry.
Project notes
Inspect the model before choosing the hardware setup
The original simple_pendulum.STEP payload was independently checked against its source byte hash and Git identity and contains STEP geometry and assembly declarations. This establishes a STEP exchange artifact, not native parameter history or verified geometry. Matching the selected mount, lever, weight fixture and actuator firmware remains part of a build investigation. [9]
At reviewed revision dbd72be94453939a75e0833ab0da00816daa1329, the README distinguishes pip install . from pip install .[all] in software/python. The minimal route excludes the heavier TensorFlow, stable-baselines and Drake selections described there. The installation document declares Python 3.6 or later below 4, while setup.py names TorqueLimitedSimplePendulum 1.0.0 with largely unpinned dependencies. That historical declaration does not establish a working current dependency environment. [1] [5] [6]
The inspected energy-shaping controller provides actual implementation to study alongside the pendulum model. Choosing that initial source/model task does not require treating every optional optimizer or learned controller as installed. No package, controller simulation or benchmark was executed here. [8]
What we checked
Source research only. Selected text and original artifact byte/container identities inspected; no upstream compilation, dependency installation, native CAD application/fit/strength validation, simulation, manufacturing, wiring/calibration, powered commissioning, control performance or assay performed. Original CAD remains private; source links are not permission to redistribute vendor/third-party material.
Not yet established
- Requirements: operating system, host computer, tools
Updates
- Upstream last updated
- Not established
- Latest release
- Not established
- Profile updated
- Nov 1, 2026
- Sources last checked
- Nov 1, 2026
- Next review
- Dec 1, 2026
- Reviewed revision
- dbd72be94453939a75e0833ab0da00816daa1329; original CAD snapshot identities retained separately
Source files and licenses
Distinct inspectable physical research design reference with actual source and a bounded next step. Original file inspection is not fabrication, physical operation or complete support qualification.
| Layer | Availability / license |
|---|---|
| mechanical design | available · BSD-3-Clause Original STEP exchange payload byte/git identity and basic structure checked; no native parametric feature-history, topology, fit or manufacturing validation. Root project notice does not clear third-party/vendor bodies. [9] [2] |
| electronics | not found · License not fully assessed No complete source/rights review of bought-in motor/driver/Pi interface layers established within this bounded repository/hardware-document review; not a claim of absence elsewhere. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] |
| firmware | not found · License not fully assessed No complete source/rights review of bought-in motor/driver/Pi interface layers established within this bounded repository/hardware-document review; not a claim of absence elsewhere. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] |
| software | available · BSD-3-Clause Scoped repository declaration; purchased components, external software/labware/tool assets and vendor bodies have separate terms. No commercial/manufacturing or experimental-performance clearance implied. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] |
| documentation | available · BSD-3-Clause Scoped repository declaration; purchased components, external software/labware/tool assets and vendor bodies have separate terms. No commercial/manufacturing or experimental-performance clearance implied. [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] |
No model weights/dataset or separate hardware manufacturing claim selected for the initial source-inspection workflow.
References
Each source links to the exact revision we read. “Used for” shows where this page relies on it.
- S001 README.md
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· README.md at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Hardware & parts and 3 more - S002 LICENSE
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· LICENSE at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 2 more - S003 hardware/testbench_description.md
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· hardware/testbench_description.md at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Hardware & parts and 3 more - S004 hardware/motor_configuration.md
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· hardware/motor_configuration.md at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 2 more - S005 docs/reference/text/chapters/00.installation_guide/01.installation.rst
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· docs/reference/text/chapters/00.installation_guide/01.installation.rst at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 2 more - S006 software/python/setup.py
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· software/python/setup.py at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 2 more - S007 hardware/CAD/BillofMaterials
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· hardware/CAD/BillofMaterials at · Accessed Nov 1, 2026
Used for: Overview, Is this for you?, What you need, Hardware & parts and 3 more - S008 software/python/simple_pendulum/controllers/energy_shaping/energy_shaping_controller.py
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· software/python/simple_pendulum/controllers/energy_shaping/energy_shaping_controller.py at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 2 more - S009 Original payload: hardware/CAD/simple_pendulum.STEP
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· Original byte/git identity checked on 2026-11-01 · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 3 more - S010 Repository layout
Revision, date & where cited
dfki-ric-underactuated-lab/torque_limited_simple_pendulum contributors · github.com · revision
dbd72be· Repository layout at · Accessed Nov 1, 2026
Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 1 more
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5