Embedded Files
A quadruped servo robot inspired by SPOT from Boston Dynamics
A quadruped servo robot inspired by SPOT from Boston Dynamics
Introduction
Introduction
This was a project which I dreamed on making since I started university, I waited until the summer break before my Masters to start since I felt confident with my knowledge, resources and time to start developing it. As of now the project stills being developed due to time constraints.
Parts and Materials
Parts and Materials
Main Parts
Main Parts
Based on the available resources and income I selected the following parts:
12 MG966R servos: Cheap and strong servos
Arduino Nano: Micro-controller only for testing stages
ESP32 Wroover: Micro-controller for the final design
1 PCA9685 16 channel Driver: Motor Driver for all the servos
1 LM2596 Voltage Regulator
1 MPU-6050
1 NRF24L01 Antenna
Extra Parts
Extra Parts
XT60-Connectors
1 12v Switch
Aluminium Servo horn 25T
3mm Hex Screws
Proto-boards for soldering
Wires
White PLA
Blue PLA
Black PLA
Prototyping, Programming and Testing
Prototyping, Programming and Testing
The robot design took almost two months to be completed, once the design was functionally finished the manufacturing using 3d printer methods took around 1 week. The initial tests were mostly height control in a linear motion using inverse kinematics
Robot Body Assembly
70% body Assembled
servos heigth, weigth and position test
Manufacturing (in-development)
Manufacturing (in-development)
Results (in-development)
Results (in-development)
Linear height control
Linear height control
Future work (In-development)
Future work (In-development)
Currently, the project stills in development, i have been able to achieve linear motion in all 3 axis, the robot is capable of moving forward and backwards, up and down and to the sides. But, there are some major issues to be solved first:
The wiring and soldering inside the robot were poorly designed and made
The Antenna keeps disconnecting due to poor soldering and wrong cables used, causing the robot to behave erratic and unpredictable
Walking sequence not yet programmed in the robot
IMU not yet implemented to assist with balancing the robot
Camera not yet implemented
Therefore, before I can make the robot walk, I have to first replace and fix the wiring, cables, micro-controller and wireless communication method so the robot can become more robust and reliable to withstand the walking sequence. I'm currently working on these issues while adding more functionalities to the robot.
Reflection
Reflection
Page updated
Google Sites
Report abuse