QUBO-The quadrupedal robot

grabcad

This is a quadrupedal robot designed after Boston Dynamics' spot(former spotmini). Like many others, I was thrilled by the robot, and decided to create a miniature dog-like robot on a budget. I had all the kinematics worked out, and several of the movements, such as walking or spinning, have been calculated and simulated using vpython. The electronic components include an arduino nano, PCA9685 servo driver, 12 sg90 servos, a 5V 5A regulator for servos, and a 5V 3A regulator for electronics. Due to covid-19, I was unable to attend school, which meant I couldn't use the 3d printers there. Instead, I sent the stl files to a 3d printing facility, but this took up a lot of time(and money)-which is why I didn't have a chance to fix errors in my design. However, the problem can be solved by melting or cutting some parts. I will post an instructables on this including the code and fixed stl files when everything is complete. This includes installing a IMU sensor and bluetooth. The test video was recorded before switching to a 5A regulator, so it's underpowered and slow. Despite this, I hope you like my design.