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Amulet is an open-source three-phase brushless-motor controller designed by Nguyen Vincent for EPFL Xplore’s legged-robot actuators. It uses a moteus-compatible firmware approach, but revises the power and cooling hardware for custom quasi-direct-drive actuators. Its published specifications list 12–44V input and 100A peak phase current; a separate 1,500W peak-power figure is a project claim reported by Hackster, not an independently verified continuous rating.
What Amulet is—and what “moteus alternative” means
Amulet (ΛMULET) is a brushless motor controller for three-phase motors and robotic actuators. The EPFL Xplore project presents it as a high-power controller compatible with moteus firmware, with a particular focus on custom quasi-direct-drive (QDD) actuators for legged robots.
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It is best understood as an open-hardware design that draws on moteus’s control and firmware ecosystem, not as a moteus-branded product or a drop-in replacement proven for every moteus installation. Vincent Nguyen said the pinout is “almost one to one similar to the moteus n1 controllers” to make firmware porting easier. That design choice suggests a familiar integration path, but does not by itself establish electrical, mechanical, or software interchangeability in a specific robot.
Amulet’s published specifications
| Specification | Amulet |
|---|---|
| Input voltage | 12–44V in the project specifications. Nguyen’s 2024 announcement separately describes use with 10S batteries. |
| Phase current | 100A peak in the 2024 project specifications. Nguyen’s 2024 announcement gives 30A nominal and 100A peak for 10S-battery operation. |
| Peak electrical power | 1,500W claimed peak, as reported by Hackster; the report says the figure may change after further testing. It is not an independently verified continuous rating. |
| Controller | STM32G474 microcontroller. |
| Control and switching rates | 15–30kHz control rate and 15–60kHz PWM switching, according to the project specifications. |
| Communications | CAN-FD at 5Mbps, according to the project specifications. |
| Position feedback | Two onboard 14-bit encoders. |
| Cooling | 12V fan cooling; the board also provides a low-side-switched fan connector. |
| Board dimensions | 69.67 × 76.7mm, according to the project specifications. |
| Board mass | Not stated in the cited project specifications or Hackster report. |
The 12–44V range and the 10S-battery description are related but not interchangeable specifications: the former is the published input envelope, while the latter is Nguyen’s description of an intended battery setup. Likewise, peak phase current and peak electrical power describe different limits; neither figure alone tells you what a complete motor, battery, wiring, and cooling system can sustain.
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How Amulet compares with moteus hardware
“Moteus” covers several controller models, so there is no single voltage, power, size, or current figure that represents the entire family. The table compares Amulet’s project claims with model-specific figures in mjbots’ official hardware documentation. Those moteus values are documented under model-specific voltage and PWM conditions, not as results from a controlled head-to-head test against Amulet.
| Comparison point | Amulet | moteus reference hardware |
|---|---|---|
| Input-voltage envelope | 12–44V, according to the project specifications. | A single family-wide envelope is not stated here; the cited documentation’s power examples identify particular operating voltages by model. |
| Peak phase current | 100A in the 2024 project specifications. | n1: 100A; x1: 120A, under the respective model specifications. |
| Peak electrical power | 1,500W claimed peak in Hackster’s report, subject to further testing; not an independently verified continuous rating. | r4.11: 900W at 30V; c1: 250W at 28V; n1: 2,000W at 36V under the documented 30kHz condition; x1: 1.3kW at 36V. These are model-specific documented figures, not a shared benchmark. |
| Encoder count and resolution | Two onboard 14-bit encoders. | Not stated as a comparable family-wide figure in the cited hardware reference. |
| Cooling provision | 12V fan provision, plus FET packaging that Hackster reports can be cooled on both sides with an external heatsink. | Not stated as a directly comparable family-wide cooling provision in the cited hardware reference. |
| Dimensions and mass | 69.67 × 76.7mm; mass not stated in the cited project materials. | Not stated as a comparable family-wide figure in the cited hardware reference. |
| CAN-FD interface | 5Mbps CAN-FD in the project specifications. | Not stated as a comparable family-wide figure in the cited hardware reference. |
| Firmware compatibility | Described as moteus-firmware-compatible; Nguyen said the pinout was made almost one-to-one with moteus n1 to ease firmware porting. | Official moteus hardware and firmware reference. |
| Assembled-board availability | No current finished-board retail channel is established by the cited project materials. | Not stated here; availability varies by model and is outside this comparison. |
On paper, Amulet’s 100A peak phase-current specification and reported 1,500W peak-power claim place it in a similar high-current design space to moteus n1 and x1. That is an engineering comparison inferred from published specifications, not evidence that the controllers match in thermal behavior, reliability, or performance in a particular actuator. Amulet’s published board dimensions and fan provision point to a different packaging and cooling strategy.
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What changed in Amulet’s power and cooling design
Nguyen described Amulet’s main revisions as changes to the power-generation section rather than a wholly different firmware approach. The project adds a 12V rail and a low-noise 3V3 rail for the ADC reference, filters the buck-converter inputs through a Pi filter, and increases the number of bulk capacitors to support a higher peak-power target.
Hackster also reports that the FET package can be cooled from both sides using an external heatsink, and that the board includes a low-side-switched connector for a fan. Together with the listed 12V fan cooling, these are provisions for managing heat in a high-current actuator setup; they are not proof of a particular continuous current or power capability under all ambient temperatures or mounting conditions.
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Is Amulet suitable for a quadruped or QDD actuator?
That is the project’s intended use: custom quasi-direct-drive actuators in legged robots, including quadruped-style systems. The combination of onboard position feedback, CAN-FD, moteus-compatible firmware, and a high-current power stage is relevant to that class of actuator.
Whether it suits a specific robot depends on the motor and battery, the actuator’s mechanical and thermal design, controller mounting, firmware configuration, and the system’s communication and safety requirements. The published figures do not establish a validated motor-and-actuator pairing or guarantee that a particular quadruped will meet its torque, speed, or duty-cycle needs.
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Can you buy an Amulet board or build one?
The project is open source and fabrication documents were released, so the design can be used as a basis for reproduction or adaptation. Nguyen’s 2024 announcement names PCBWay as the board’s manufacturer and assembler. That identifies how the project obtained fabrication and assembly; it does not establish a current retail listing, ongoing production, or an endorsement of any particular order.
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1Repair Windows errors before they cause bigger problems2Fix the driver behind crashes, sound loss and screen glitches3Clear out junk files and repair common Windows errorsBefore attempting a build, check the project’s released hardware files and firmware compatibility information for the exact revision, bill of materials, assembly requirements, and configuration steps. The cited materials do not establish that assembled Amulet boards are currently available for purchase, so anyone who needs a ready-made controller should confirm availability directly rather than assume that open-source files imply a retail channel.
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Safety and performance limits to account for
Amulet is a high-current power-electronics design, not a low-voltage hobby board. The cited moteus project documentation warns that its designs involve moderately high-power electronics; the same practical caution applies when reproducing or integrating Amulet.
- Choose battery protection, fusing, wiring, connectors, and an enclosure for the actual voltage and fault current of the system.
- Plan thermal paths for the board, FETs, motor, and surrounding structure; a fan connector or heatsink option does not replace thermal validation in the intended installation.
- Confirm firmware, encoder, and CAN-FD configuration against the motor and robot before applying load.
- Do not treat the reported 1,500W peak claim or 100A peak phase-current specification as a continuous operating rating.
The available project materials and technical coverage do not establish independent thermal, EMC, reliability, or standardized head-to-head test results. For a real actuator design, those limits need validation in the intended electrical and mechanical setup.
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