Inspired by the Orbita Joint

Hey, you recently commented on my SPM but YouTube deleted the Comment!
I just wanted to let you know that I am a big fan of Reachy and the Orbita Joint was my inspiration for building the SPM!

So please comment once more, just without a link! YouTube deleted it and I cannot bring the comment back!

This is the video I was talking about

Thanks a lot for taking interest in my work!!

Reachy is awesome I am a Pollen fan since Poppy came out!!
Keep up the great work!!


Hello Swann, thanks for letting us now about the comment deletion.
Could you add a link in your description to cite our work ? :slight_smile:

Great re-design of Orbita BTW with some interesting idea.

I am super happy that you like my design, it seems to be trending and getting a lot of feedback although it is not a redesign of the Orbita joint but merely another swing on the generic SPM class…

I was super happy to see you comment, and will link your “Orbita Is Turning Heads” page? Or Youtube channel?

You guys have been an inspiration for me since the early Poppy days!! :blush:

The only thing I never understood is, why you guys put a limit to the rotation in the ring layers? Is it a safety feature or you just dont need it in the application?
Unlimited turning of those disks is kind of a cool feature and I always wondered why you did not implement it!

Orbita is turning heads would be cool :slight_smile:

It’s a old limitation we had to do a homing of Orbita. Now we have absolute encode and no longer need them, we just have forgotten to remove the limit as it has Reachy never does a 360°+ turn with its head ^^

This is the follow up of the above clip, it shows the actuator in action!!
I also listed the Orbita joint as my inspiration! I really hope you’ll like it!! :innocent:


Great @Swann !
Will you share the code you used for control as well?