Robot dog, quadruped robot, 12DOF by SovGVD

Last crawled date: 4 years, 6 months ago

Small robot dog inspired by Boston Dynamics, Petoi Bittle and a lot of other projects.
Walking

Rotating

Features
Only ESP32 required
Arduino IDE
Web interface with telemetry
CLI interface for calibration and debug
True Inverse kinematics code
Configurable Gait sequence and settings
Fun
Parts
Printable parts:
1 x Body
2 x Leg top
2 x Leg top (mirrored)
2 x Leg bottom
2 x Leg bottom (mirrored)
4 x Shoulder part1
4 x Shoulder part2
2 x Legs holder part1
2 x Legs holder part2
4 x Servo gear
4 x Leg shoes, print with flexible filament (not required)
Other parts:
8 x 8x12x2.5mm bearings
Glue to connect all parts together
Electronics:
1 x ESP32 with 38pin
1 x 50x70 Prototyping PCB
12 x TowerPro MG90D servos
1 x INA219 (optional)
1 x MPU9250 (optional, still has not been implemented, WIP)
3 x Mini360 (DC-DC Buck Converter Step Down Module) or similar, 2 for front/hind legs (or more), 1 for ESP32
1 x 18650 Battery Holder for 2 elements (try to find "18650 battery holder smt")
some capacitors
Source
Source code: https://github.com/SovGVD/esp32-robot-dog-code
Design source (FreeCAD): https://github.com/SovGVD/esp32-small-robot-dog-hardware