This is a ‘Spot Micro’ going for walks quadruped robot running on Raspberry Pi 3B. By making this venture, redditor /thetrueonion (aka Mike) wished to instruct themself robotic software package development in C++ and Python, get the robot going for walks, and master velocity and directional management.
Mike was inspired by Place, a single of Boston Dynamics’ robots made for business to accomplish distant operation and autonomous sensing.
What is it designed of?
- Raspberry Pi 3B
- Servo management board: PCA9685, controlled through I2C
- Servos: twelve × PDI-HV5523MG
- Lcd Panel: 16×2 I2C Lcd panel
- Battery: 2s 4000 mAh LiPo, immediate relationship to ability servos
- UBEC: HKU5 5V/5A ubec, made use of as 5V voltage regulator to ability Raspberry Pi, Lcd panel, PCA9685 management board
- Thingiverse 3D-printed Place Micro frame
How does it wander?
The mini ‘Spot Micro’ bot rocks a 3-axis angle command/body pose management method through keyboard and can obtain ‘trot gait’ or ‘walk gait’. The former is a 4-phase gait with symmetric motion of two legs at a time (like a horse trotting). The latter is an eight-phase gait with a single leg swinging at a time and a body shift in among for stability (like human beings going for walks).
Mike breaks down how they obtained the robot going for walks, ideal down to the purchase the servos need to be linked to the PCA9685 management board, in this comprehensive walkthrough.
Here’s the code
And of course, this is a single of those people magical tasks with all the code you need saved on GitHub. The software package is applied on a Raspberry Pi 3B running Ubuntu 16.04. It is composed on C++ and Python nodes in a ROS framework.
What is subsequent?
Mike is not concluded nevertheless: they are searching to make improvements to their yellow beast by incorporating a lidar to obtain straightforward 2d mapping of a place. Also on the checklist is acquiring an autonomous motion-planning module to guideline the robot to execute a straightforward process close to a sensed 2d environment. And at last, incorporating a camera or webcam to conduct basic impression classification would finesse their creation.
Resource: Raspberry Pi blog, by Ashley Whittaker.