This is a open-source Quadrupled(four legged) Robot project based of spot micro which is inspired by Boston Dynamics Spot Robot.
- Introduction
- Electronics & Hardware
- Software
- Installation
- Project Structure
- Credits
- References & External Links
This project is the source code for a quadruped, a 4 legged open source robot. This code implements motion control of a 3d printed spot micro robot, including sit, stand, angle and walk control. Supporting libraries provide additional capabilities, such as mapping through SLAM and a body mounted lidar.
This Repo contains a updated basic build and ROS build.
- The updated basic build is a simple quadrupled robot which can be controlled using a joystick and also easier for beginners.
- The updated Ros build is using
ubuntu 20.04 LTSandROS Noetic.
The frame utilized is the 3D printed design from Thingverse Spot Micro frame developed by KDY0523. See the thingverse page for additional details for assembly hardware.
Component List:
- Computer: Raspberry Pi 4B (any raspi board should be fine)
- Servo control board: PCA9685, controlled via i2c
- Servos: 12 x MG996R (these are not best but cheap)
- LCD Panel: 16x2 i2c LCD panel (Optional)
- Battery: Any power source which can power 5v components and servos(6v due to PCA9685)
- Sensors: IMU, RPi Camera, Microphone.
- Extras: Speaker, LED Strip.
- Custom 3d printed parts for mounts and reinforcements
Detailed info about Electronics and hardware are in here docs/general_docs/electronics.
This repo is structured as a catkin workspace in a ROS Noetic environment on Ubuntu 20.04 LTS. This software may not work or compile outside this environment.
Also the basic build files are in spot_micro_basic folder.
Note
For Beginners, use the basic build for starting out.
Important
- For Beginners, use the basic build for starting out.
- Basic Build and ROS Build is independent of each other, No need to install basic build if you use ROS and vice versa.
- For ROS Build, you need to install ROS Noetic and Ubuntu 20.04 LTS
- Before starting the Installation
- 3D print and Assemble the body.for more info to assemble.
- Workout the Electronics.
- The Hardware and electronics can be used for both the build (same hardware)
Note
- Uses Raspberry Pi OS
- Controlled via Xbox/PS Controller
- Any RaspberryPi board Supported
Follow the instructions here. docs/spot_basic for detailed instructions to install Basic OS Version.
Note
- Uses Ubuntu 20.04 LTS
- Uses ROS Noetic
- Controlled via Xbox/PS Controller (or) Keyboard
- Requires RaspberryPi board 3 or higher
Follow the instructions here. docs/spot_ros for detailed instructions to install ROS Version.
project_axl/
│
├── assets/
│
├── docs/
│ ├── spot_basic/ (documentation for basic build)
│ └── spot_ros/ (documentation for ros build)
│
├── extensions/
│ ├── object_detection/ (object detection using tensorflow)
│ ├── spot_arm/ (source code for robotic arm)
│ └── voice_assistant/ (voice assistant using chatgpt api)
│
├── spot_basic/ (source code for basic build runtime)
│
├── lcd_monitor/ (Node that displays basic state information and control values on lcd monitor)
│
├── ros-i2cpwmboard/ (Node that controls the pca 9685 servo control board. Operates mostly under proportional control mode, but also in absolute control mode to command servos to idle)
│
├── servo_move_keyboard/ (A python node that can be used in conjuction with the i2cpwm_board node to manually command an individual servo via keyboard controls. Can be used for servo calibration to build the servo configuration dictionary.)
│
├── spot_micro_joy/ (Sends the same commands like the keyboard_command_node but is controlled by sensor_msgs/Joy, which are emitted by joy_node. By default it is configured for PS4 button-layout.)
│
├── spot_micro_keyboard_command/ (Node that sends state, motion, and rate commands to the motion control node via keyboard)
│
├── spot_micro_launch/ (Not a node, but a launch package purely for collecting high level launch files. The launch files are for more advanced use cases such as running SLAM.)
│
├── spot_micro_launch_cmd/
│
├── spot_micro_plot/ (Displays a wireframe figure of the robot via matplotlib and received state data from spot_micro_motion_cmd. This plot node can be used in lieu of the real robot for testing motions if the spot_micro_motion_cmd node is run standalone)
│
├── spot_micro_rviz/ (A node to launch RVIZ and show a visualization of the spot micro model, as well as mapping and navigational elements in the future. The `show_and_move_model_via_gui` launch file can be launched standalone to show a manually moveable spot micro model via GUI sliders.)
│
└──README.md
Note
- Note that the servo control node
i2cpwm_boardshould only be commanded by one node at one time. Thusspot_micro_motion_commandandservo_move_keyboardshould be run exclusionary; only one should ever run at one time.
- KDY0523 for the base 3D Design
- mike4192 for spotMicro
- Fran Ferri for the basic build
- Florian Wilk & Maurice Rahme for simulation
- Thanks to everyone who is part of spot micro.
-
NOETIC INSTALL - UBUNTU 20.4: http://wiki.ros.org/noetic/Installation/Ubuntu
-
Spot Micro AI community: https://gitlab.com/custom_robots/spotmicroai
-
Research paper used for inverse kinematics:
Sen, Muhammed Arif & Bakircioglu, Veli & Kalyoncu, Mete. (2017). Inverse Kinematic Analysis Of A Quadruped Robot. International Journal of Scientific & Technology Research. 6. -
Stanford robotics for inspiration for gait code: https://github.com/stanfordroboticsclub/StanfordQuadruped
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Spot micro URDF model copied and modified from Florian Wilk's repo
-
List of submodules utilized:
- ros-i2cpwmboard by bradanlane for PCA9685 support
- spot_micro_kinematics_python by mike4192 for python spot micro kinematic calculations:
- spot_micro_kinematics_cpp by mike4192 for c++ spot micro kinematic calculations: