https://github.com/klaasnicolaas/spot-redux
🤖 Building Quadruped robot for the minor IROB
https://github.com/klaasnicolaas/spot-redux
esp32 kangal quadruped robotics
Last synced: about 1 month ago
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🤖 Building Quadruped robot for the minor IROB
- Host: GitHub
- URL: https://github.com/klaasnicolaas/spot-redux
- Owner: klaasnicolaas
- License: gpl-3.0
- Created: 2021-12-06T11:39:35.000Z (over 3 years ago)
- Default Branch: development
- Last Pushed: 2022-01-31T14:25:07.000Z (about 3 years ago)
- Last Synced: 2025-03-17T08:45:31.972Z (about 1 month ago)
- Topics: esp32, kangal, quadruped, robotics
- Language: C++
- Homepage:
- Size: 5.73 MB
- Stars: 12
- Watchers: 2
- Forks: 5
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
## 🤖 Spot-Redux
![Project Maintenance][maintenance-shield]
[![License][license-shield]](LICENSE.md)
[![Forks][forks-shield]][forks-url]
[![Stargazers][stars-shield]][stars-url]
[![Issues][issues-shield]][issues-url]
## About
A Quadruped robot based on the Kangal model and equipped with an ESP32 to control everything. Project during the minor in Robotics at the University of Applied Science of Leiden (Netherlands). **Note**: this project is still in a development phase, which means that some things may not be finished yet.
### Glossary
- **Tibia**: The lower part of the leg.
- **Femur**: The upper part of the leg.
- **Coxa**: The shoulder part.
## Hardware
Below is a list of parts, which is divided into essential and optional parts depending on how you want to build your version of the robot.
### Essential parts
| part name | description | unit |
|---------------------|--------------------------------------|-----------|
| ESP32 LOLIN32 | cpu | 1 |
| PCA9658 module | servo motor controller | 1 |
| SPT5430HV-180W 8.4V | HV servo motor | 12 |
| DC-DC buck converter| 7V-28V to 5V 3A | 1 |
| 1S3P 18650 battery | lithium ion battery | 2 |
| Round Rocker Switch | Switch with LED | 1 |
### Optional parts
| part name | description | unit |
|---------------------|--------------------------------------|-----------|
| HX-2S-JH20 | lithium ion 2S charger | 1 |
| WS2812 RGB LED | RGB LED for eyes | 2 |
| PDC004-PD 9V | usb-c PD decoy module | 1 |
| STPS2045C | power shottky rectifier | 1 |
| battery indicator | Lithium Battery Capacity Indicator | 1 |
## Demo
During our project we made a lot more video, you can find them in the [playlist][playlist].
## Simulation
## Bluetooth joystick control
By default, the robot connects to a few types of controllers that communicate over bluetooth, these are:
- Parrot FlyPad (Hard to get)
- [GameSirT1D][gamesir]
- Bluetooth LE joystick supported
What each button on your controller represents:
| key | control | key | control |
|--------------|----------------|-------------|-----------------------|
| **A** | walk / stop | **L2 + L1** | step speed interval - |
| **B** | gait change | **L2 + R1** | step speed interval + |
| **X** | balance mode | **L2 + X** | step height - |
| **Y** | flash ledstrip | **L2 + Y** | step height + |
| **THUMB - L**| save settings | **L2 + A** | step dist - |
| **THUMB - R**| load settings | **L2 + B** | step dist + |
| **DPAD - L** | toe offset - | **R2 + L1** | toe offset - |
| **DPAD - R** | toe offset + | **R2 + R1** | toe offset + |
## Credits
- IK model [12-DOF Quadrupedal Robot: InverseKinematics by Adham Elarabawy](https://www.adham-e.dev/pdf/IK_Model.pdf)
- [Kangal cad files](https://grabcad.com/library/diy-quadruped-robot-1) by Baris ALP
- [ESP32 QuadRuped](https://github.com/PingguSoft/esp32_quadruped) code from PingguSoft.
[maintenance-shield]: https://img.shields.io/maintenance/yes/2022.svg?style=for-the-badge
[forks-shield]: https://img.shields.io/github/forks/klaasnicolaas/Spot-Redux.svg?style=for-the-badge
[forks-url]: https://github.com/klaasnicolaas/Spot-Redux/network/members
[stars-shield]: https://img.shields.io/github/stars/klaasnicolaas/Spot-Redux.svg?style=for-the-badge
[stars-url]: https://github.com/klaasnicolaas/Spot-Redux/stargazers
[issues-shield]: https://img.shields.io/github/issues/klaasnicolaas/Spot-Redux.svg?style=for-the-badge
[issues-url]: https://github.com/klaasnicolaas/Spot-Redux/issues
[license-shield]: https://img.shields.io/github/license/klaasnicolaas/Spot-Redux.svg?style=for-the-badge
[gamesir]: https://www.banggood.com/nl/GameSir-T1s-bluetooth-Wireless-Gaming-Controller-Gamepad-for-Android-Windows-VR-TV-Box-p-1192063.html
[pinggusoft-quadruped]: https://github.com/PingguSoft/esp32_quadruped
[playlist]: https://www.youtube.com/playlist?list=PLuJ3dQQgpPGkJtYmtJ5d6FHydhD2ZlgSz