Remix of the original SpotMicro with several changes. A quadruped platform for reinforcement learning tasks.

• Data-efficient novel reinforcement learning method that seeks to deliver a robust and universally controllable gait without contact or environment sensing.

• Built with a Pybullet environment (a physics engine) using the open-source Spot Micro CAD models (and later the remixed model--OpenQuadruped).

Link: https://moribots.github.io/project/spot-mini-mini  

Forward Movement

Twisting Movement

Spot Micro based on an Arduino Mega and the MPU-6050 gyroscope.

Adaptation of the position depending on the roll and pitch.

Spot Micro Quadruped project running custom C++ and Python code on a ROS Kinetic framework. Robot currently capable of sit, stand, body angle commands, and walking.

Raspberry Pi 3B with 12 x pdi-hv5523mg servos, PCA9685 PWM control board, 2s 4000 mAh lipo, thingverse 3D printed spot micro frame. 

One version of SpotMicro, showing its twisting and walking capabilities

Controlling the SpotMicro body with an Xbox One controller