# yellow_robot **Repository Path**: spot_micro/yellow_robot ## Basic Information - **Project Name**: yellow_robot - **Description**: No description available - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2020-12-15 - **Last Updated**: 2024-04-09 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # yellow_robot ------------------ A quadruped robot, inspired from OpenQuadrupeder/microspotAi robot https://gitlab.com/custom_robots/spotmicroai/website forum : https://app.slack.com/client/TLWGGB71C/CMN94UF0F ------------------ # PAY ATTENTION !! THE ROBOT HAS NOT BEEN TESTED FOR NOW, WITH WALK CYCLE ------------------ ------------------ # There is 2 versions for legs : V2 or V4 #TODO # V2 : 250 grs, BELTS GT2 2m 2 mm pitch 6 mm # V4 : 320 grs, BELTS REELY XL 65 teeth, 330mm, 9.5mm and M4/M5 laiton inserts ------------------ ### To-Do List - [x] *Hardware* // Teensy firmware, from Maurice Rahme, https://github.com/moribots/spot_mini_mini/tree/spot/spot_real/Control/Teensy, - [x] *Builds* // modify legs : add a belt tensionner, - [x] *Builds* // modify upper legs : simulate a DLDC motors, - [x] *Builds* // modify legs : add a belt tensionner, - [x] *Builds* // add a handle, - [ ] *Builds* // add bottom cover metal patchs, for dock station charge, - [ ] *Software* // Myahrs+ usb IMU. Create/add the ROS Melodic package, - [ ] *Software* // Ultrasonic sensors (FL, FR, Back). Create the ROS Melodic package who publishs the 3 topics, - [ ] *Software* // D435 intel camera. Create/add the ROS Melodic package, - [ ] *Software* // HP Speaker. Create the ROS Melodic package, with a service, - [ ] *Software* // RGB leds ramps (FL and FR). Create the ROS Melodic package, with a service, - [ ] *Software* // back lcd screen I2C. Create the ROS Melodic package, with a service, - [ ] *Software* // back RPI Cam. Create the ROS Melodic package, - [ ] *Software* // back joystick (ADC ADS1115 I2C). Create the ROS Melodic package, - [x] *Software* // top cover RGB led. Create the ROS Melodic package, - [ ] *Software* // battery status (ADC ADS1115 I2C). Create the ROS Melodic package, ------------------ SYSTEM VERSION : Ubuntu 18.04 64bits ROS VERSION : Ros version 1 : MELODIC ------------------ MASTER BOARD : RPI4B or Jetson Nano 2ND BOARD : Mano Biletsky home-made board https://github.com/mano1979 3RD BOARD : Teensy 4.1 or 4.0 ------------------ SERVOS : 12 x DS3218MG 180°, or better...35Kgs ------------------ OTHERS : 1 D435 intel depth camera 3 HC04P iltrasonic sensors 1 raspberrypi picam 1 imu (mine : Myahrs+) 1 analogic joystick 1 20x40mm speaker 2 Neopixels 8x 1 RGB led 2 x ADC ADS 1115 1 tiny led screen 1 5v ubec 1 power switch ------------------ BEARINGS : (refs/link may change !!) 20 x 625.zz 5*16*5 https://www.ebay.fr/itm/10-x-Kugellager-625-ZZ-5-16-5-mm-3D-Drucker-CNC-Modellbau/181937342662?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649 4 x 6810 2RS / 61810 2RS 50x65x7 mm https://www.kugellager-express.de/navi.php?kf=&ed=1&qs=6810+2RS+%2F+%26%238234%3B61810+2%26%238236%3BRS+50x65x7+mm&search= METAL SERVOS ARMS : (refs/link may change !!) 12 x Metal Round Servo Arm 25T Disc Horns https://www.ebay.fr/itm/x5-Metal-Round-Servo-Arm-25T-Disc-Horns-for-MG995-MG996R-Futaba-Savox-RC-Robot/263283372008?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649 BELTS : (refs/link may change !!) 4 x GT2 2 m 2 mm pitch 6 mm https://www.ebay.fr/itm/GT2-2M-2mm-Pitch-6mm-Width-Closed-Loop-Synchronous-Timing-Belt-for-Pulley-CNC-3D/283194907394?ssPageName=STRK%3AMEBIDX%3AIT&var=585191909441&_trksid=p2057872.m2749.l2649 ------------------ TOTAL WEIGHT : ~3080 Grs ------------------ SERVOS MOUNT : See calibration page ! ------------------ ![Alt text](/OpenQuad_V2/images/boxed.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/handle.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/looking.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/paused.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/stand.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/head.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/top_cover.jpg?raw=true "Openquad_v2") ![Alt text](/OpenQuad_V2/images/bottom_cover.jpg?raw=true "Openquad_v2") Printer : Zortrax M200+ 3D printer. Filaments : Z-ABS+, Z-ULTRA, ABS+ Black CARBON. infill : 20% ![Alt text](/OpenQuad_V2/images/zortrax_m200_plus.jpg?raw=true "Openquad_v2") ------------------ Vincent FOUCAULT vincentfoucault12@gmail.com FRANCE