Introduction to Quadruped Robots

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Introduction to Quadruped Robots, including ANYmal, Spot, Petoti Bittle, PIPPY, BeeDog, SpotMicro, Pupper, Unitree, CyberDog; 3D-printed Quadruped: Py-Apple Dog, Mini Pupper, SpotMicro V2, Kangal, Philon Wave, Open Dynamic Robot Initiative.

Quadruped Robots Introduction

DARPA Robot Competiton

Spot

ANYmal

一群「狗」扭轉電商的物流模式，真・無人送貨的未來不遠了！

CyberDog

CyberDog ROS 2

产品名称：CyberDog 仿生四足机器人
站立：长度：771mm, 宽度：355mm, 高度：400mm, 趴下：长度：807mm
宽度：406mm, 高度：206mm
整机重量（含电池）：14kg
自由度：整机12，单腿3
Ubuntu 18.04+ROS 2

支持步态：恢复站立丨姿态展示丨缓慢趴下丨缓跑丨小跑丨奔跑丨跳跑丨跳跃
更多能力：倒地恢复丨打滚丨握手丨跳舞丨转圈丨作揖丨坐下
最大负载：3kg
动态平衡：支持
运动速度：MAX 3.2m/s*
倒地恢复：支持
摔倒保护：支持
*实验室测得整机最大行走速度为3.2m/s，最大安全行走速度为1.6m/s

Unitree-Go1

Unitree Pybullet
Unitree ROS packages
GO1 legged SDK

MAX

Pupper

Stanford Pupper

Petoi Bittle (8-servo)

BeeDog

PIPPY (8-servo)

樹莓派仿生機器狗

XGO-mini

Kendryte k210 for face recognition, deep sort, …

MarsCat

3D-printed Robot Cat

四足仿生機器貓

Robot Cat

3D-printed Robot Dog

GoodBoy

GoodBoy - 3D Printed Arduino Robot Dog

Py-Apple Dog (菠萝狗)

Github: Py-Apple Dynamics

V10.0 Misaka version

Mini Pupper

ESP32 Small Robot Dog

Insturctables.com/ESP32-Small-Robot-Dog

All STLs to print can be downloaded from Thingiverse page: Robot dog, quadruped robot, 12DOF, 3DOF per leg

Robot Dog Lassie

Blog: Ez Arduino 12 DOF Quadruped Robot – Robot Dog Lassie

Spot Micro

  • Spot Micro Quadruped Project

  • SpotMicro v2

  • Components:
    • 12 x PDI-HV5523MG servos (If you have other servos, please make sure they fit the design, using the ServoHornTester.stl)
    • M3 self tapping countersunk head screws
    • M2 x 6mm self tapping countersunk head screws

  • CAD: SpotMicro V2 STL

  • Demo:

Kangal

Philon Wave

Github
Components:

  • 1x Esp32 or an Arduino compatible board.
  • 1X Sipeed M1 Dock - K210 Development Board
  • 1x PCA9685 16-Channel 12-bit PWM Servo Motor Driver I2C Module
  • 1x 7805 TO-2205V - 1.5A Linear Voltage Regulator
  • 1x Li-Po Battery 7.4V 2600mAh
  • 12x JX Servo PDI-HV5932MG 30KG Large Torque 180°
  • 4x M3 Adjustable Push Rod End Ball Joint Linkage
  • 4x 6900zz Ball Bearing 10x22x6mm
  • 8x 626zz Ball Bearing 6x19x6mm
  • various bolts & nuts

Source Code: Source ESP32

Simulation
Warp_simulation_v5 using Processing 4.0b7

  • Navigation controls: mouse, keyboard [‘W’], [‘A’], [‘S’], [‘D’], [‘Q’], [‘E’].

  • Simulation controls: keyboard [KEY_UP], [KEY_DOWN], [KEY_LEFT], [KEY_RIGHT], [’[’], [’]’], [‘1’], [‘2’], [‘3’], [‘4’], [‘5’].

CAD: design.step

Demo

Open Dynamic Robot Initiative

Github: Mechanics

  • Quadruped Robot 12dof

  • Biped Robot 6dof



This site was last updated October 07, 2024.