Unitree GO-M8018-6 Motor Reverse Engineering

People seem to be rather into the Unitree Go2 quadruped robot, if only for the low price tag. But perhaps more interesting are the motors that propel it — they appear to be similar to the Go1’s GO-M8010-6 motors that Unitree also sells, with [Thomas Flayols] currently working on reverse-engineering its proprietary driver using the publicly available documentation for that motor and some reverse-engineering. These motors are an assembly that includes a reducer, magnetic encoder, 3-phase inverter,