https://github.com/chinmaynehate/venom
All Terrain Autonomous Quadruped
https://github.com/chinmaynehate/venom
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
Last synced: 11 months ago
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All Terrain Autonomous Quadruped
- Host: GitHub
- URL: https://github.com/chinmaynehate/venom
- Owner: chinmaynehate
- License: mit
- Created: 2018-12-27T16:14:48.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2021-05-23T07:22:45.000Z (about 5 years ago)
- Last Synced: 2025-06-05T11:26:24.789Z (12 months ago)
- 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
- Language: Python
- Homepage:
- Size: 1.35 MB
- Stars: 158
- Watchers: 7
- Forks: 16
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
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[](https://github.com/chinmaynehate)
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# Venom : Sprawling-type Quadruped robot
> Venom is a 12-DOF unmanned Quadruped(four legged robot) equipped with 12 Servo Actuators an ARM Processor for onboard computations.
> The Quadruped is based on Sprawling type motion with creep and trot gait successfully implemented on it.
[]()
> This is a part of research project in Legged Mobility at Society of Robotics and Automation, VJTI.
- 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.
- 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
**Demo Video**
---
## Table of Contents
- [Installation](#Software-Installation)
- [Hardware Stack](#Hardware-Stack)
- [Team](#team)
- [FAQ](#faq)
- [License](#license)
---
## Creep GAIT Example
```python
venom = Quadruped(servoId) # Servo ID Array
venom.setParams(dirVector,FixedPoints)# Servo Direction and Set Points
venom.go2CreepStartPosition()
input("Press Enter") # Wait for user Input
# For CREEP GAIT
venom.walk(CREEP)
# For TROT GAIT
venom.walk(TROT)
```
---
## Software-Installation
- Requires Python 3.4+ installed on RaspberryPi (or Similar Development Board).
## Hardware-Stack
- [Jetson Nano](https://www.nvidia.com/en-in/autonomous-machines/embedded-systems/jetson-nano/) (RasberryPi will work as well)
- Servo Motors: [ 12 Dynamixel AX-12A](https://www.trossenrobotics.com/dynamixel-ax-12-robot-actuator.aspx) or better / any Normal PWM Servo Motor (Torque > 20kgcm ).
- 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)
- [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
](https://www.trossenrobotics.com/p/cm-530-robotis-servo-controller.aspx) for Dyanmixel Servos.
- Acrylic Chasis (CAD Files Available)
### Clone
- Clone this repo to your local machine using `https://github.com/chinmaynehate/Venom.git`
### Setup
> Install dependencies
```shell
$ python3 -m pip install numpy adafruit_servokit busio sympy
```
## Team
| **Chinmay Nehate** | **Suyash More** | **Shashank Deshmukh** |
| :---: |:---:| :---:|
| [](https://github.com/chinmaynehate) | [](https://github.com/SuyashMore) | [](https://github.com/shanks-d) |
| `github.com/chinmaynehate` | `github.com/SuyashMore` | `github.com/shanks-d` |
---
## FAQ
- **How do I do *specifically* so and so?**
- Create an Issue to this repo , we will respond to the query
---
## License
- **[MIT license](http://opensource.org/licenses/mit-license.php)**