Crazy cool project. Is it possible to find the firmware and 3d printing sources somewhere? I'm just starting such a project and I want to have something to start from.
Привет! I have found that people don't really share firmware for these because it's pretty bespoke for the robot, and also because it isn't considered all that difficult to write... I know from being a person who doesn't know how to do it that that isn't helpful, but in the research I've done since, it kind of is true. I've written firmware, but all it does is translate the foot coordinate relative to the centre of body into servo movements, in order to link it to a ROS simulation, so if that is what you intend to do with it, let me know, and I'll share you the firmware, otherwise it won't be much use. The 3D design you can find at: grabcad.com/library/diy-quadruped-robot-1
Wow amazing great work !! Can you help me how you converted the leg trajectory to servo motions ? I'm also started doing one such robot, now strucked inbetween. I'm doing in ROS. So it will we helpful if you wish .
To put it simply. a servo pulse-width, eg. 1200-1850, will correspond to an angle from vertical, so -90-0-90 degrees. I wrote Arduino firmware to work that out, then wrote some trigonometry to convert a desired "foot" co-ordinate relative to the "shoulder" into angles of the joints that will achieve that co-ordinate. It's not very accurate as the movement doesn't seem to be linear, but it works well enough. ROS outputs foot positions in coordinates relative to the robot centre more easily than any other method so this is the way to go.
which files are you after? my files probably will not be relevant to anyone else - I used an ESP8266 on board, and that firmware only functions to control the servos as instructed by messages (angles) received over serial. The actual kinematic implementation is a python script running on the OrangePi Zero in conjunction with ROS.
Could you share the code? We are working on the same kind of quadruped Kangal robot with an ESP32. But we have some strugles to make smooth walking movements
wow it looks cool
gonna scale one of these so it's wearable
Crazy cool project. Is it possible to find the firmware and 3d printing sources somewhere?
I'm just starting such a project and I want to have something to start from.
Привет! I have found that people don't really share firmware for these because it's pretty bespoke for the robot, and also because it isn't considered all that difficult to write... I know from being a person who doesn't know how to do it that that isn't helpful, but in the research I've done since, it kind of is true. I've written firmware, but all it does is translate the foot coordinate relative to the centre of body into servo movements, in order to link it to a ROS simulation, so if that is what you intend to do with it, let me know, and I'll share you the firmware, otherwise it won't be much use.
The 3D design you can find at: grabcad.com/library/diy-quadruped-robot-1
Wow amazing great work !!
Can you help me how you converted the leg trajectory to servo motions ?
I'm also started doing one such robot, now strucked inbetween. I'm doing in ROS.
So it will we helpful if you wish .
To put it simply. a servo pulse-width, eg. 1200-1850, will correspond to an angle from vertical, so -90-0-90 degrees. I wrote Arduino firmware to work that out, then wrote some trigonometry to convert a desired "foot" co-ordinate relative to the "shoulder" into angles of the joints that will achieve that co-ordinate. It's not very accurate as the movement doesn't seem to be linear, but it works well enough.
ROS outputs foot positions in coordinates relative to the robot centre more easily than any other method so this is the way to go.
why you put servo for knee on hip? can you mention what kind of mechanic that you used? i saw there is a tube that parallel to the thight?
Do u have sauce?!
do you have a repository to share the files ?
which files are you after? my files probably will not be relevant to anyone else - I used an ESP8266 on board, and that firmware only functions to control the servos as instructed by messages (angles) received over serial. The actual kinematic implementation is a python script running on the OrangePi Zero in conjunction with ROS.
Which servo motor did you use?
www.aliexpress.com/item/4000135787995.html
"SPT5435LV SPT5535LV 35kg"
pick option "35kg-210 W.Arm" - the 200 degree with aluminium arm
@@TimTamsLOL Do you think a quadruped would be possible using the Mg996r or would that not have the torque?
Do you use esp32?!
I'm using esp8266 but esp32 would work too
Could you share the code? We are working on the same kind of quadruped Kangal robot with an ESP32. But we have some strugles to make smooth walking movements
Why make a robot dog just make a robot woman
shit you're absolutely right
Bruh😂