{"id":22756939,"url":"https://github.com/chinmaynehate/venom","last_synced_at":"2025-07-19T03:04:44.904Z","repository":{"id":85522585,"uuid":"163314074","full_name":"chinmaynehate/Venom","owner":"chinmaynehate","description":"All Terrain Autonomous Quadruped","archived":false,"fork":false,"pushed_at":"2021-05-23T07:22:45.000Z","size":1411,"stargazers_count":158,"open_issues_count":0,"forks_count":16,"subscribers_count":7,"default_branch":"master","last_synced_at":"2025-06-05T11:26:24.789Z","etag":null,"topics":["autonomous-navigation","autonomous-robots","fourier-series","imu","kalman-filter","kinematic-modeling","kinematics","legged","legged-robotics","legged-robots","python3","quadruped","quadrupeds","robot","ros","ros-kinetic","spider"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/chinmaynehate.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2018-12-27T16:14:48.000Z","updated_at":"2024-12-06T07:59:13.000Z","dependencies_parsed_at":null,"dependency_job_id":"56f4d2d0-fe32-43a3-88ae-2c0e4c6ed38b","html_url":"https://github.com/chinmaynehate/Venom","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/chinmaynehate/Venom","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/chinmaynehate%2FVenom","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/chinmaynehate%2FVenom/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/chinmaynehate%2FVenom/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/chinmaynehate%2FVenom/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/chinmaynehate","download_url":"https://codeload.github.com/chinmaynehate/Venom/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/chinmaynehate%2FVenom/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":265879166,"owners_count":23843077,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["autonomous-navigation","autonomous-robots","fourier-series","imu","kalman-filter","kinematic-modeling","kinematics","legged","legged-robotics","legged-robots","python3","quadruped","quadrupeds","robot","ros","ros-kinetic","spider"],"created_at":"2024-12-11T07:16:34.275Z","updated_at":"2025-07-19T03:04:44.896Z","avatar_url":"https://github.com/chinmaynehate.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"[![PR](https://camo.githubusercontent.com/f96261621753dacf526590825b84f87ccb1db0e6/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f5052732d77656c636f6d652d627269676874677265656e2e7376673f7374796c653d666c6174)](https://github.com/chinmaynehate/Venom/pulls)\n[![Open Source Love png2](https://badges.frapsoft.com/os/v2/open-source.png?v=103)](https://github.com/chinmaynehate)\n[![License](http://img.shields.io/:license-mit-blue.svg?style=flat-square)](http://badges.mit-license.org)\n\n\u003ca href=\"https://www.youtube.com/watch?v=NFO0sFC34yE\u0026t=108s\"\u003e\u003cimg src=\"https://i.imgur.com/M67nE8U.jpg\" title=\"Venom\" alt=\"Venom\"\u003e\u003c/a\u003e\n\n\n# Venom : Sprawling-type Quadruped robot\n\n\u003e Venom is  a 12-DOF unmanned Quadruped(four legged robot) equipped with 12 Servo Actuators an ARM Processor for onboard computations.\n\n\u003e The Quadruped is based on Sprawling type motion with creep and trot gait successfully implemented on it.\n\n\n[![Venom2](https://i.imgur.com/ZmYRAiz.jpg)]()\n\n\u003e This is a part of research project in Legged Mobility at Society of Robotics and Automation, VJTI.\n\n- Most of the robots available in the industry make use of wheels for navigation. The goal is to build legged vehicle with multiple-terrain mobility  superior to existing wheeled and tracked vehicles.\n- The system would be able to travel anywhere a person or animal  could  go using their legs while carrying its own fuel and payload. It would be smart enough to negotiate terrain with a minimum of human guidance and intervention\n\n\n\n**Demo Video**\n\n\u003ca href =\"https://www.youtube.com/watch?v=NFO0sFC34yE\u0026t=108s\"\u003e VENOM- All terrain Quadruped\u003c/a\u003e\n\n---\n\n## Table of Contents \n\n- [Installation](#Software-Installation)\n- [Hardware Stack](#Hardware-Stack)\n- [Team](#team)\n- [FAQ](#faq)\n- [License](#license)\n\n\n---\n\n## Creep GAIT Example\n\n```python\nvenom = Quadruped(servoId) # Servo ID Array\nvenom.setParams(dirVector,FixedPoints)# Servo Direction and Set Points\nvenom.go2CreepStartPosition()\ninput(\"Press Enter\") # Wait for user Input\n# For CREEP GAIT\nvenom.walk(CREEP)\n# For TROT GAIT\nvenom.walk(TROT)\n```\n---\n\n## Software-Installation\n\n- Requires Python 3.4+ installed on RaspberryPi (or Similar Development Board).\n\n## Hardware-Stack\n\n-  [Jetson Nano](https://www.nvidia.com/en-in/autonomous-machines/embedded-systems/jetson-nano/) (RasberryPi will work as well)\n-  Servo Motors:  [ 12 Dynamixel AX-12A](https://www.trossenrobotics.com/dynamixel-ax-12-robot-actuator.aspx) or better / any Normal PWM Servo Motor (Torque \u003e 20kgcm ). \n- Servo Motors(Alternate Servos): [Coreless Servo](https://robokits.co.in/motors/rc-servo-motors/ultra-torque-dual-shaft-metal-gear-35kgcm-coreless-servo-w-t-acc)\n-  [PCA9685 16 Channel PWM Servo Driver](https://www.amazon.com/SunFounder-PCA9685-Channel-Arduino-Raspberry/dp/B014KTSMLA) for PWM Servo , [CM-530 Robotis Servo Controller\n](https://www.trossenrobotics.com/p/cm-530-robotis-servo-controller.aspx) for Dyanmixel Servos.\n- Acrylic Chasis (CAD Files Available)\n\n\n### Clone\n\n- Clone this repo to your local machine using `https://github.com/chinmaynehate/Venom.git`\n\n### Setup\n\n\u003e Install dependencies\n\n```shell\n$ python3 -m pip install numpy adafruit_servokit busio sympy \n```\n\n\n## Team\n\n| \u003ca href=\"http://fvcproductions.com\" target=\"_blank\"\u003e**Chinmay Nehate**\u003c/a\u003e | \u003ca href=\"http://fvcproductions.com\" target=\"_blank\"\u003e**Suyash More**\u003c/a\u003e | \u003ca href=\"http://fvcproductions.com\" target=\"_blank\"\u003e**Shashank Deshmukh**\u003c/a\u003e |\n| :---: |:---:| :---:|\n| [![Chinmay Nehate](https://avatars0.githubusercontent.com/u/42030910?s=460\u0026u=8f503c88db898081aaf11c7fd9ca2a36bcc56716\u0026v=4)](https://github.com/chinmaynehate)    | [![Suyash More](https://avatars1.githubusercontent.com/u/29707660?s=460\u0026u=c73a6d9697a744762277dde68183010426a2818d\u0026v=4)](https://github.com/SuyashMore) | [![Shashank Deshmukh](https://avatars0.githubusercontent.com/u/33441200?s=460\u0026v=4)](https://github.com/shanks-d)  |\n| \u003ca href=\"http://github.com/chinmaynehate\" target=\"_blank\"\u003e`github.com/chinmaynehate`\u003c/a\u003e | \u003ca href=\"http://github.com/SuyashMore\" target=\"_blank\"\u003e`github.com/SuyashMore`\u003c/a\u003e | \u003ca href=\"http://github.com/shanks-d\" target=\"_blank\"\u003e`github.com/shanks-d`\u003c/a\u003e |\n\n\n---\n\n## FAQ\n\n- **How do I do *specifically* so and so?**\n    - Create an Issue to this repo , we will respond to the query\n\n---\n\n\n\n## License\n\n\n- **[MIT license](http://opensource.org/licenses/mit-license.php)**\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchinmaynehate%2Fvenom","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fchinmaynehate%2Fvenom","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fchinmaynehate%2Fvenom/lists"}