Introduction Modern robotics demands actuators that aren’t just strong, but also smart — capable of precise control, smooth motion, and safe human interaction. Traditional servos are great for small robots, but they can be stiff, noisy, and limited in range or torque. This project demonstrates a custom robot actuator built around a 5010 360 KV brushless DC (BLDC) motor , controlled by an ESP32 running the SimpleFOC library. The goal is to create a compliant joint — one that can be moved by hand, but automatically returns to its home position with adaptive stiffness. 🧠What Makes This Actuator Special Unlike a typical servo, this actuator behaves intelligently : You can turn it by hand — it feels soft and back-drivable. When you release it, the motor returns to its initial position smoothly. If you twist it harder (e.g., due to gear reduction), it becomes stiffer , resisting displacement more strongly. It’s powered by 12 V and controlled by a simple ESP32 boar...
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