3D Printed Robotic Dog

This project is based off the open source Spot Micro platform, which is inspired by Boston Dynamics' Spot robot. Although the CAD files were not designed by me, I had to make several modifications to fit my selected electronic hardware, such as adjusting the length of the dog's body. This included fitting a battery pack, as well as an Arduino Nano and Nvidia Jetson Nano for control. 

The robot is completely 3D printed in PLA with feet printed in TPU for extra grip. Each leg contains 3 servo motors for shoulder, hip, and knee articulation.  The motors are controlled via 16 channel PWM controller for simplified wiring and programming. I also built a setup from scrap pieces of wood to suspend the robot for easier testing of movement. So far I have used an Arduino Nano to program basic movement the legs which allow the robot to sit and stand up. I hope to return to this project in the summer now that I have experience in Python to program so I can implement more complex movement through inverse kinematics by studying the work others have done on this platform.