{"id":19599188,"url":"https://github.com/louislelay/bipedal_work","last_synced_at":"2026-05-08T06:53:14.638Z","repository":{"id":240053558,"uuid":"796961706","full_name":"louislelay/Bipedal_Work","owner":"louislelay","description":"Designed and built a wheeled bipedal robot using 3D printing, programmed with ROS2.","archived":false,"fork":false,"pushed_at":"2024-08-02T11:11:49.000Z","size":99889,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-09-21T00:40:28.606Z","etag":null,"topics":["bipedal-robots","python","raspberry-pi","ros","ros2","ros2-humble","wheeled-biped","wheeled-robots"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/louislelay.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"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}},"created_at":"2024-05-07T00:11:24.000Z","updated_at":"2025-06-02T07:17:28.000Z","dependencies_parsed_at":"2024-05-22T22:40:03.660Z","dependency_job_id":"5fc79592-bb0e-4f08-b8f7-93c077d660cd","html_url":"https://github.com/louislelay/Bipedal_Work","commit_stats":null,"previous_names":["louislelay/bipedal_work"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/louislelay/Bipedal_Work","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/louislelay%2FBipedal_Work","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/louislelay%2FBipedal_Work/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/louislelay%2FBipedal_Work/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/louislelay%2FBipedal_Work/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/louislelay","download_url":"https://codeload.github.com/louislelay/Bipedal_Work/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/louislelay%2FBipedal_Work/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32770544,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-08T02:36:36.067Z","status":"ssl_error","status_checked_at":"2026-05-08T02:36:07.210Z","response_time":54,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"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":["bipedal-robots","python","raspberry-pi","ros","ros2","ros2-humble","wheeled-biped","wheeled-robots"],"created_at":"2024-11-11T09:09:12.601Z","updated_at":"2026-05-08T06:53:14.614Z","avatar_url":"https://github.com/louislelay.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Bipedal Wheeled Robot\n\n## Hardware\n\nModelized on Solidworks, every parts are to be 3d printed. And this is the list of the material : \n\n - 4 Servo Motors : Miuzei MG996r\n - 2 DC Motor Arduino with encoder\n - 2 Wheels\n - 1 Raspberry Pi OR Jetson Nano\n - 1 IMU\n - 1 L298N driver\n - 4 bearrings\n - M3, M4 and M5 bolts and nuts\n\n![CAD model](medias/bipedal_robot_cad.png)\n\n![Real Robot](medias/bipedal_robot_real.png)\n\n## Software\n\nProgrammed using ROS2 and python. Created 4 packages.\n\n### Package servo_controller\n\nSubscribe from a topic name 'servo_command' and get an information under the format : \"angle_hl:angle_hr:angle_kl:angle_kr\"\n\nTo test it, open a first terminal and type :\n\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 run servo_controller servo_controller_node\n```\n\nAnd in a second one :\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 topic pub /servo_command std_msgs/msg/String \"{data: \"90:90:90:90\"}\"\n```\n\n### Package mpu_publishers\n\nPublish on a topic name 'mpu9250_data' or 'mpu6050_data', depending on the one you used the information received by the sensor.\n\nTo install the libraries being used :\n\n```\nsudo apt-get update\nsudo apt-get install python3-pip\npip3 install smbus2\npip3 install mpu9250-jmdev\npip3 install mpu6050-raspberrypi\n```\n\nAnd make always sure : \n\n - VCC (Power) to 3.3V or 5V Power Pin\n - GND (Ground) to Ground Pin\n - SCL (Clock) to GPIO Pin 3 (I2C1 SCL)\n - SDA (Data) to GPIO Pin 2 (I2C1 SDA)\n\nTo test it, open a first terminal and type :\n\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 run mpu_publishers mpu[here the version you use]_publisher\n```\n\nAnd in a second one :\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 topic echo /mpu[here the version you use]_data\n```\n\n### Package dc_controller\n\nSubscribe from a topic name 'servo_command' and get an information under the format : \"info_hl:info_r\"\n\nTo test it, open a first terminal and type :\n\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 run dc_controller dc_controller_node\n```\n\nAnd in a second one :\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 topic pub /dc_command std_msgs/msg/String \"{data: \"2:-2\"}\"\n```\n\n### Package feedback_control\n\nUse the three first packages to keep the robot well balanced.\n\nTo test it, open a terminal and type :\n\n```\ncd GO/TO/PATH/Bipedal_Work/ros2_bipedal_ws/\nsource /opt/ros2/humble/setup.bash\nsource install/setup.bash\nros2 run feedback_control balance\n```\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flouislelay%2Fbipedal_work","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Flouislelay%2Fbipedal_work","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flouislelay%2Fbipedal_work/lists"}