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No version for distro humble showing github. Known supported distros are highlighted in the buttons above.
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zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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

Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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 version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

zuko repository

quad_gamepad quad_interfaces quad_main quad_motors quad_output quad_sensors quad_simulation quad_urdf

ROS Distro
github

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
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

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!
Frame v2.2 CAD design.
Zuko himself!
Frame v2.1 parts printed.
Expansion board v1 for direct RPi inteface.
Frame v2.1 first time standing.
Frame v2.1 upper leg’s servo horn, linked leg bridge, and bridge bearing press fit together.
Watch the video
Video: frame v2.1 first tests
Watch the video
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