/quadruped_bai_tiny

A low-cost 8DOF torque controllable quadruped.

Primary LanguageC++MIT LicenseMIT

Quadruped_bai_tiny v1

Still working on detailed document.

quad_servo_cad

Videos

Walking / Jumping / Leg demo

File Structure

  • /hardware - CAD design

  • /electronic - Motor driver, Main controller brd, Encoder brd, IIC bridge brd

  • /sim - V-rep simulation, Kinematics, Dynamics

  • /software - Firmware

Reducer

Leg Assembly

Body Assembly

Motor Driver

Main Controller

License

MIT License

Contact

  • Shuang Peng, {shuangpe}@usc.edu