Robot dog, quadruped robot, 12DOF, 3DOF per leg

thingiverse

Small robot dog inspired by Boston Dynamics, Petoi Bittle and a lot of other projects. #Instructions - How to print and connect all together: https://www.instructables.com/ESP32-Small-Robot-Dog/ - Servo and legs calibration: https://github.com/SovGVD/esp32-robot-dog-code/blob/master/README.md #Videos WIP: move calculations to 3D <iframe width="560" height="315" src="https://www.youtube.com/embed/jzs04zd9bQk" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> Walking <iframe width="560" height="315" src="https://www.youtube.com/embed/aZ13q9g28yg" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> Rotating <iframe width="560" height="315" src="https://www.youtube.com/embed/cCIKNy16uMQ" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> #Features - Only ESP32 required - Arduino IDE - Web interface with telemetry - CLI interface for calibration and debug - True Inverse kinematics code - Configurable Gait sequence and settings - Fun #Parts ## Printable parts: - 1 x Body - 2 x Leg top - 2 x Leg top (mirrored) - 2 x Leg bottom - 2 x Leg bottom (mirrored) - 4 x Shoulder part1 - 4 x Shoulder part2 - 2 x Legs holder part1 - 2 x Legs holder part2 - 4 x Servo gear - 4 x Leg shoes, print with flexible filament (not required) - 1 x Cover - 2 x Cover clamps ## Printable helping tools (see description on github): - 1 x CALIBRATION_LEG-Beta_and_Gamma - 1 x CALIBRATION_LEG-Beta_and_Gamma (mirrored) - 1 x CALIBRATION_LEG-Alpha - 1 x CALIBRATION_SERVO-10deg ## Other parts: - 8 x 8x12x2.5mm bearings - 4 x small cable ties - Super glue (cyanoacrylate) to glue all parts together ## Electronics: - 1 x ESP32 with 38pin - 1 x 50x70 mm green prototyping board - 12 x TowerPro MG90D or MD90S (cable should be out at the bottom of servo, thanks to [triawan](https://www.thingiverse.com/make:942053)) servos (it can be tricky to use other servos, as size may vary) - 1 x INA219 (optional) - 1 x MPU9250 (optional, still has not been implemented, WIP) - 3 x Mini360 (DC-DC Buck Converter Step Down Module) or similar, 2 for front/hind legs (or more), 1 for ESP32 - 1 x 18650 Battery Holder for 2 elements (try to find "18650 battery holder smt") - some capacitors # Source - Source code: https://github.com/SovGVD/esp32-robot-dog-code - Design source (FreeCAD): https://github.com/SovGVD/esp32-small-robot-dog-hardware