Small robot dog inspired by Boston Dynamics, Petoi Bittle and a lot of other projects.
#Disclaimer
Project closed, see more in GitHub or instructables.com
#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
Walking
Rotating
#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
SovGVD
