/ylo-2

New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots

Primary LanguagePython

ylo-2

New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots

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This robot is created from scratch.

The body structure is 3D printed + 1mm carbon tubes

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Bec 12v @ 5A (7A peak)

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all covers are 3D printed, sanded, painted and coated with a 2K coat

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upper and lower legs are Made with ALU 7075, using the CNC process

transmission is done thanks to a timing belt 550 teeth GT3 Both pulleys are alu CNC. Alt text Alt text Alt text Alt text

Lower leg has a 3/1 ratio (and motor provides a 6/1 ratio)

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foot are silicon made in a 3d printed mold, inserted in force, as a sock...easy to change

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3D calibration tool, for all 4 legs

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WORKING PROCESS :

  • Finish robot

  • RT kernel on 18.04 é 20.04

  • Peak 4 can working

  • Realsense D435

  • Realsense T265

  • Myahrs+ IMU

  • Ros noetic

  • I2C working on UP Xtreme I7

  • Distance sensors SRF10

  • URDF

  • Champ Moteus controller (position mode)

  • Improving gait

  • DockStation RTH software

  • VSLAM, GMAPPING and AMCL