https://github.com/mackajunest/turbo-pup

This is an improved version of the old 8DOF Robotic Dog project.
https://github.com/mackajunest/turbo-pup

3d-printed esp32 puppy raspberrypi robotics

Last synced: 3 months ago
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This is an improved version of the old 8DOF Robotic Dog project.

• Host: GitHub
• URL: https://github.com/mackajunest/turbo-pup
• Owner: MackaJunest
• License: gpl-3.0
• Created: 2024-05-28T10:04:00.000Z (7 months ago)
• Default Branch: main
• Last Pushed: 2024-06-29T12:14:25.000Z (6 months ago)
• Last Synced: 2024-10-11T16:42:26.716Z (3 months ago)
• Topics: 3d-printed, esp32, puppy, raspberrypi, robotics
• Language: C++
• Homepage:
• Size: 95 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
![Turbo pup](https://github.com/MackaJunest/Turbo-Pup/assets/95353708/ecb204ce-d365-43b5-b0ee-a2d5d6cef9e5)

# Turbo-Pup

8DOF Wheeled Robotic Dog Project

## Overview

Welcome to this robotic puppy project repository! This project combines the power of the [Turbo Drive](https://github.com/MackaJunest/Turbo-Drive), an ESP32-based controlling board for motion control, and a Raspberry Pi 4B for advanced functionalities like gait planning, systematic modeling, and sensory extensions.

![Turbo pup](https://github.com/MackaJunest/Turbo-Pup/assets/95353708/cd6d1082-5bf5-4d0c-b7ec-6de232c06046)

## Features

### Turbo Drive:

- **ESP32-S3**: Faster operation speed and capable of multithreading/core tasks.

- **Motor Control**:

  - Capable of controlling 8 leg servo motors.

  - Capable of controlling 4 wheel BLDC motors.

- **Current Sensing**: Inline current sensing for all four leg servos.

- **Signal Isolation**: All motor-driven signals are isolated by linear drivers.

- **IMU**: Integrated on-board IMU chip.

- **Display**: Utilization of an extended mini I2C OLED screen for extra status and information display.

- **Battery Monitoring**: Battery voltage monitor can be projected onto the mini I2C display.

### Raspberry Pi 4B:

- **Gait Planning**: Coordinated movement planning.

- **Visual System**: Camera integration for environment perception.

- **Module Integration**: Support for additional modules.

  - Laser radar SLAM for mapping and navigation.

- **Interactive Display**: Customizable faces displayed on a screen for communication.

### Additional Features:

- **Modular Design**: Easily expandable and customizable architecture.

- **PlatformIO and Arduino Structure**: Well-organized project structure for easy development and maintenance.

## Roadmap

### Main Objectives

- [x] Motion control for leg servo motors.

- [x] Motion control for wheel motors.

- [x] Math solvers.

- [ ] Gait planner.

- [ ] IMU integration.

### Extended Objectives

- [ ] Utilize extended I2C OLED screen for status display.

- [ ] Implement visual system with camera.

- [ ] Customizable faces display.

- [ ] Implement additional modules.

## Getting Started

I will need to start with some programming, so this part will be added first after finishing the main objectives.

## License

This project is licensed under the GPL 3.0 License, allowing for unrestricted use, modification, and distribution. See the [LICENSE](LICENSE) file for details.

## Disclaimer

Use the Turbo Pup robotic dog project at your own risk. The developers are not liable for any damage or injury caused by its use.