| name | actuator-sizing |
| description | Actuator sizing and torque/speed/thermal margin checks for robot-dog and legged
robot virtual prototypes. Use this skill whenever the user needs motor, gearbox,
actuator torque, speed, reduction ratio, thermal margin, knee/hip/ankle sizing,
or blocker reports before digital-twin gates.
|
actuator-sizing
This skill estimates whether a simplified robot-dog actuator set has enough torque,
speed, and thermal margin for early digital-twin gates. It consumes requirement
contracts and architecture assumptions, then writes machine-readable actuator reports.
When To Use
Use this skill for:
- Robot-dog hip/knee/ankle torque margin checks.
- Selecting or validating actuator specs before CAD/simulation iteration.
- Producing
actuator_spec.yaml and torque_margin.json.
- Feeding
robot-dog-digital-twin G2/G3 blocker decisions.
Workflow
- Read
requirements.yaml for mass, payload, speed, and slope targets.
- Read
architecture.yaml for leg count and joints per leg.
- Load an actuator preset or use the built-in MVP preset.
- Estimate joint torque and speed requirements.
- Write
reports/actuator_spec.yaml, reports/torque_margin.json, and
reports/actuator_sizing_report.md.
Commands
python skills/actuator-sizing/scripts/estimate_torque.py skills/actuator-sizing/examples/quadruped_mvp
python skills/actuator-sizing/scripts/write_report.py skills/actuator-sizing/examples/quadruped_mvp
Rules
- Keep calculations deterministic and conservative.
- Treat torque margin below 20% as a blocker.
- Do not select real purchasable parts unless a user explicitly provides a candidate list.
- Do not import sibling subskill code. Read requirement files only.
References
references/torque-model.md for formulas.references/thermal-margin.md for MVP heat checks.references/output-contract.md for report fields.references/examples.md for sample project layout.
