[{"data":1,"prerenderedAt":98},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Fmit-protocol-can":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":88,"extension":89,"keywords":90,"meta":91,"navigation":92,"path":93,"seo":94,"stem":95,"updated":96,"__hash__":97},"glossary\u002Fglossary\u002Fen\u002Fmit-protocol-can.md","MIT Protocol (CAN Motor Control)","MIT 协议 \u002F MIT Mode",{"type":8,"value":9,"toc":82},"minimark",[10,15,24,29,37,59,63],[11,12,14],"h1",{"id":13},"what-is-the-mit-protocol","What Is the MIT Protocol?",[16,17,18,19,23],"p",{},"The ",[20,21,22],"strong",{},"MIT protocol"," (MIT Mode) is a CAN-bus motor control protocol originating from the MIT Mini Cheetah open-source legged robot. Its core idea: compress a full control command into one CAN frame carrying five quantities — target position p, target velocity v, position gain Kp, velocity gain Kd, and feed-forward torque τ.",[25,26,28],"h2",{"id":27},"hybrid-force-position-control","Hybrid Force-Position Control",[16,30,31,32,36],{},"The motor computes output torque as ",[33,34,35],"code",{},"τ_out = Kp·(p − p_actual) + Kd·(v − v_actual) + τ",". By tuning the gains, one protocol covers three control modes:",[38,39,40,47,53],"ul",{},[41,42,43,46],"li",{},[20,44,45],{},"Pure torque control",": Kp = Kd = 0, feed-forward torque only — the basis of high-dynamic force control;",[41,48,49,52],{},[20,50,51],{},"Position control",": normal Kp\u002FKd values track position like a servo;",[41,54,55,58],{},[20,56,57],{},"Impedance control",": intermediate gains make the joint behave as a spring-damper for compliant contact.",[25,60,62],{"id":61},"why-it-became-a-de-facto-standard","Why It Became a De Facto Standard",[16,64,65,66,71,72,76,77,81],{},"The protocol is open, compact (one frame per command), and force-control-native. Many ",[67,68,70],"a",{"href":69},"\u002Fen\u002Fglossary\u002Fjoint-motor","joint motor"," vendors now support it, creating a cross-brand control interface. All BXI ",[67,73,75],{"href":74},"\u002Fen\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50-series joint motors"," support MIT-protocol CAN\u002FCANFD, and paired with the ",[67,78,80],{"href":79},"\u002Fen\u002Fmotors\u002Fcontrol-modules","PCIE-CAN control module"," achieve >1000 Hz whole-robot control loops.",{"title":83,"searchDepth":84,"depth":84,"links":85},"",2,[86,87],{"id":27,"depth":84,"text":28},{"id":61,"depth":84,"text":62},"The MIT protocol is a CAN-bus motor control scheme from the MIT Mini Cheetah open-source project, sending position, velocity, feed-forward torque, and gains in a single frame for hybrid force-position control — a de facto standard for robot joint motors.","md","MIT protocol, CAN motor control, hybrid force position control, motor communication protocol, CANFD",{},true,"\u002Fglossary\u002Fen\u002Fmit-protocol-can",{"title":5,"description":88},"glossary\u002Fen\u002Fmit-protocol-can",null,"Q0AyuTGcRHiD67zY9FjjO_dfgKHkDH9mFB7PkB7eLds",1783425867275]