August 2, 2020
Description
The first milestone was done in 2020, which was designing and finalizing all parts necessary for the build of my personal SpotMicro-Derivate... i call it the SpotMicroESP32. You can and should view my repository here - this is also the place where you can find the most current parts and hopefully all instructions necessary for the assembly of it:
https://github.com/michaelkubina/SpotMicroESP32
You can join the commuinity on Discord: https://discord.gg/s8F6xHGk9Y
There is also a Slack-Channel for this remix (but due to no active subscription it lacks features and is almost abandoned -> so better join the discord). You can find the slack-"archive" here : spotmicroai.slack.com (#spotmicro-esp32).
There is already some community-made software:
Maarten Weyn solved the inverse kinematics equations and implemented them into ESP-IDF. He also made an App for controlling the Robot via Smartphone: https://github.com/maartenweyn/SpotMicro_ESP32
An walking gait implementation and voice-commanding was achieved by Guna R. from the slacks #spotmicro-esp32 channel, which is build upon Maartens software (see Repo above). You definitly have to take a look there as well: https://github.com/cholan2100/ceasar
Apart from this community implementations, there is currently no official software. This is my goal for 2021, which i hopefully get done.
Before i proceed further, i wanted to thank Deok-yeon Kim (KDY0523) very much for his original SpotMicro design. Without it it would not have been possible for me to make such a remix in the first place. It was a great inspiration and in itself a well thought out design - i hope to see him in the discord some day. So if you are reading this, please join us :-).
Whats so special about my Remix? Well...
It features:
Furthermore it has at least some backwards/forward compatibility to the original KDY0523 Spotmicro -> the whole legs-assembly and the shoulder joints fit the original SpotMicro and vice-versa. The chassis and the hull/covers are incompatible, since i decided to go with slightly other dimensions and screw-positionings.
Its also important that you keep in mind, that the parts for the legs need to be mirrored, depending on wether they are mounted on the left or right side of the robot.
You will find the pin-layout and schematics in my repository. Dont power all modules from the 5V or 3,3V of the ESP32, since its too much current. Use other powersources and share common ground. This being said, these are the parts/electronics:
Whats missing?
The whole software...but i am eager to make in 2021 the firmware for the robot (not the cam yet) and a crossplattform (smartphone/tablet) app via flutter.
Update 09-05-2021:
I have updated all the parts to match the current and final build of the SpotMicroESP32 as how it's published in the repository as well. At this point the robot is feature-complete and i will most likely not spent any more time in doing cad-design on them.
Update 30-08-2021:
There is an awesome mod by RobJK, who remixed ProJunks (https://www.thingiverse.com/thing:4817676) reinforced shoulders, so that they use the same screws and ball bearings as this build. I highly promote to use reinforced shoulders and to use the "Limb Topshell" of RobJKs mod instead of the "Limb Topshell" from my build: https://www.thingiverse.com/thing:4937631
License:
Creative Commons - Attribution
Kooba
