Controlling the posture of the robot dog 'Mini Pupper' with BNO055(reddit.com)

（Translating this interesting Japanese post into English for the community! [Repost/Translation] Original link provided at the end.） We are diving right into microcontroller-based control today to explore some new IMU sensors for the Mini Pupper. Here is the breakdown: Table of contents BNO055 Integrating the BNO055 into Mini Pupper Key Notes Party Trick Time! Conclusion BNO055 Previously, I used the ATOM Matrix for control and had fun experimenting with attitude control using its built-in MPU6886 IMU sensor. My goal was to track the Yaw angle (rotation around the gravity axis) so the robot could keep facing the same direction even when the floor beneath it rotated. However, the MPU6886 suffered from significant Yaw drift, forcing me to abandon that approach. In this post, I’m switching to a different IMU sensor to finally achieve accurate Yaw control. To be fair, it's no surprise that a 6-axis IMU like the MPU6886 struggles with Yaw. That said, even with another 6-axis sensor like the MPU6050, you can actually get a relatively low-drift Yaw angle after a proper offset calibration. I could have gone with the MPU6050, but I decided to try out the BNO055 9-axis IMU sensor instead. Honestly, while the internal processing of the BNO055 is a bit of a black box, it delivers highly accurate attitude angles. You can get precise orientation data right out of the box without any tedious calibration or manual compensation using this sample code. Integrating the BNO055 into Mini Pupper I could have simply added the BNO055 to my previous ATOM Matrix setup. However, adding an extra IMU to a board that already integrates an MPU6886 felt way too redundant, and I just couldn't accept it. So, I opted for the ATOM Lite as the controller instead. BNO055 Circuit Board Key Notes While the BNO055 communicates via I2C, I ran into an issue where using M5Atom.h from the M5Stack Arduino library prevented me from mapping custom I2C pins for the Adafruit_BNO055 library. https://preview.redd.it/obc4fr764r8h1.png?width=1196&format=png&auto=webp&s=72d581213069e44203c269b73a8353f036312c93 To bypass this, I skipped the M5Stack library entirely and programmed the ATOM Lite using the standard ESP32 Arduino framework instead. This allowed me to freely specify the I2C pins, and communication with the BNO055 worked flawlessly. In this setup, I assigned Wire.begin(25, 21) for the BNO055 and Wire1.begin(22, 19) for the PCA9685 servo driver. I can confirm that everything runs perfectly without any issues! Reading attitude data with the BNO055, controlling the servos with the PCA9685, and lighting up the NeoPixels —— I've finally built my ideal board! Party trick Time! Thanks to the BNO055, I can now get highly accurate orientation angles. No Kalman filtering or complex algorithms needed—I just used the raw angle data straight from the sensor. The BNO055 is a beast and made this incredibly easy. I tested out the Yaw-based turn control to keep the robot locked onto a single heading while rotating. The longed-for Mini Pupper party trick Looks great! The walking gaits I programmed earlier are also working perfectly. ATOM Lite version Mini Pupper is also doing very well Even when the floor is tilted, parallel control based on foot height is smoothly achieved using only the attitude angle P control of BNO055. Conclusion I had a blast using the BNO055 9-axis IMU sensor to control the Mini Pupper. The BNO055 is honestly a game-changer—it finally allowed me to bring my dream Mini Pupper party trick to life! It's incredibly rewarding to watch this little robot get smarter and smarter. I'll definitely keep learning and experimenting! Original Japanese Post Original X Post #1 (Media) Original X Post #2 (Media) Original X Post #3 (Media) Original X Post #4 (Media) submitted by /u/Designer-Cricket7504 [link] [Kommentare]