This is a ‘Spot Micro’ going for walks quadruped robot functioning on Raspberry Pi 3B. By developing this venture, redditor /thetrueonion (aka Mike) wanted to instruct themself robotic program growth in C++ and Python, get the robot going for walks, and learn velocity and directional command.
Mike was motivated by Place, a single of Boston Dynamics’ robots made for field to perform remote operation and autonomous sensing.
What’s it built of?
- Raspberry Pi 3B
- Servo command board: PCA9685, controlled by means of I2C
- Servos: twelve × PDI-HV5523MG
- Lcd Panel: 16×2 I2C Lcd panel
- Battery: 2s 4000 mAh LiPo, direct link to electricity servos
- UBEC: HKU5 5V/5A ubec, employed as 5V voltage regulator to electricity Raspberry Pi, Lcd panel, PCA9685 command board
- Thingiverse 3D-printed Place Micro frame
How does it stroll?
The mini ‘Spot Micro’ bot rocks a a few-axis angle command/system pose command mode by means of keyboard and can reach ‘trot gait’ or ‘walk gait’. The former is a four-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 system change in amongst for stability (like people going for walks).
Mike breaks down how they bought the robot going for walks, right down to the order the servos need to be connected to the PCA9685 command board, in this substantial walkthrough.
Here’s the code
And yes, this is a single of all those magical jobs with all the code you need saved on GitHub. The program is applied on a Raspberry Pi 3B functioning Ubuntu sixteen.04. It is composed on C++ and Python nodes in a ROS framework.
Mike is not concluded but: they are looking to increase their yellow beast by incorporating a lidar to reach basic 2d mapping of a place. Also on the list is creating an autonomous motion-setting up module to information the robot to execute a basic task about a sensed 2d atmosphere. And last but not least, including a digital camera or webcam to perform essential picture classification would finesse their creation.
Resource: Raspberry Pi blog site, by Ashley Whittaker.