robot-luxo

Rendition of Pixar’s Luxo Jr. with servo mounts, an IMU, and a Raspberry Pi. Using to explore reinforcement learning. The intent is for it to actually jump and move around. Work in progress. This repo heavily under construction.

Assembly

3D printed parts

See .stl files in design/

COTS parts

Mechanical parts

• Lots x Heat-set Inserts, M3, OD=5.6mm, L=3.8mm (Alternative)
• Lots x Bearing, ID=5mm, OD=10mm, L=4mm (Alternative)
• 1 x Needle-Roller Thrust Bearing
• 2 x Washer
• Button Hex Head Drive Screw, M5, L=40mm, partially threaded
• Button Hex Head Drive Screw, M5, L=50mm, partially threaded
• Button Hex Head Drive Screw, M5, L=60mm, partially threaded
• Nylon-Insert Locknut, M5
• Half of 50mm christmas ornament for bulb

Servos

• 1 x Savox SH-0262MG for the head
• 4 x Savox SC-1251MG for the rest of the joints

Other electronics

• 1 x Raspberry Pi 4
• 1 x IMX290 USB camera
• 1 x 12x5050 Neopixel ring
• 1 x BNO055 breakout
• 1 x PCA9685 breakout
• 1 x 12V to 6V 3A DC-DC for servos
• 1 x 12V to 5V 3A DC-DC for Pi

Software setup

0. Get the image

Download Ubuntu 18.04.5 LTS for Raspberry Pi 3 32-bit (aka “hard float”). The Pi 3 image will work on a Pi 4.

I don’t know if 64-bit works with the entire stack, let me know if you try.

1. Set up Wi-Fi

Login in with user ubuntu, password ubuntu, and edit this file:

sudo nano /etc/netplan/50-cloud-init.yaml

Add this to the file:

    wifis:
        wlan0:
            optional: true
            access-points:
                "YOUR-SSID-NAME":
                    password: "YOUR-NETWORK-PASSWORD"
            dhcp4: true

Check for errors in the config:

sudo netplan –debug try

Apply the config:

sudo netplan --debug apply
sudo reboot

After this your device should be online.

2. Install the system

sudo apt update && sudo apt install -y git
git clone https://github.com/dheera/robot-luxo
cd robot-luxo
system/install.sh

Install ROS packages

to be written