QUBO-The quadrupedal robot

Last crawled date: 1 year, 11 months ago

This is a mammal-like quadrupedal robot inspired by Boston Dynamics' spot(former spotmini). Like many other people, I was delighted by the robot, and decided to make a cheap miniature dog-like robot. I had all the kinematics figured out, and many of the movements, like walking or spinning, have been calculated and simulated using vpython. The electronic components are the arduino nano, PCA9685 servo driver, 12 sg90 servos, a 5V 5A regulator for servos, and a 5V 3A regulator for the electronics. I was planning to print the design myself, but then I couldn't go to school due to covid-19, so I couldn't use the 3d printers there. I turned to an alternative of sending the stl.s to a 3d printing facility, and that used up a lot of time(and money, of course)-which is why I did not have a chance to fix errors in my design. I apologize for this, but the problem can be resolved by melting or cutting some parts. I will post an instructables on this including the code and fixed stl files after I am done with everything, but I still have a lot of work to do. That includes installing a IMU sensor and bluetooth. The test video was taken before I switched to a 5A regulator, so it is underpowered and slow. Nonetheless, I hope you like my design.