ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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zuko repositoryquad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf |
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Repository Summary
| Description | A quadruped robot dog! |
| Checkout URI | https://github.com/reubenstr/zuko.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-03-20 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| quad_gamepad | 0.0.0 |
| quad_interfaces | 0.0.0 |
| quad_main | 0.0.1 |
| quad_motors | 0.0.0 |
| quad_output | 0.0.0 |
| quad_sensors | 0.0.0 |
| quad_simulation | 0.0.0 |
| quad_urdf | 0.0.0 |
README
Zuko - A quadruped robot dog!
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| Frame v2.2 CAD design. |
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| Zuko himself! |
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| Frame v2.1 parts printed. |
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| Expansion board v1 for direct RPi inteface. |
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| Frame v2.1 first time standing. |
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| Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together. |
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| Video: frame v2.1 first tests |
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| Video: Sydney meets Zuko |
Status
Development.
V2.2 Frame is being tested and is nearly ready for replication
General
Zuko uses the ROS2 framework for communication, launching, and 3rd party addons. Zuko uses a Rasberry Pi 4 with a custom expansion board for motor and peripheral control via a Playstation 4 controller.
Current Major Tasks
- Complete ROS2 tasks - in progress
- Fab/test expansion-board PCB
- Update BOM
- Create PCB BOM
- Upload STL’s
- Create print time/weight sheet
- Create how to documentation for end user
ROS2 Workspace
ROS2 source code is contained the quad_ws directory.
My contributions
- Frame redesign using larger servos, providing more space for electronics, rework of the leg/hip system, and addition of aesthetic features (tail, etc).
- Migration of source code from ROS1 to ROS2 (Robot Operating System) frameworks.
- Inverse kinematics for a linked leg system for OpenQuadruped / Spot Mini Mini based quadrupeds.
- Parameterized duplicated hard-coded values.
- Created servo calibration script for quicker calibration and servo support.-
- A more feature rich motor and peripheral expansion board using a Teensy 4.0 supporting aux servos, foot sensors, NeoPixls, etc.
- 8x 18650 user accessable battery holder with onboard BMS (battery management system).
Credits
- Simulation, kinematics, bezier curves, and machine learning are largely based on the work from Spot Mini Mini: https://github.com/OpenQuadruped/spot_mini_mini
- Spot Mini Mini is based on SpotMicroAI: https://spotmicroai.readthedocs.io/en/latest/
- Frame and leg linkage design inspired by Baris Alp’s Kangel robot dog: https://grabcad.com/library/diy-quadruped-robot-1
Communities
- SpotMicroAI Discord: https://discord.gg/m5fsENhT
- Quadrupedalism: https://quadrupedalism.com/
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.