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My Hexapod Robot Dog Indoor Walking Showcase
I have been working on this project over the past 6 months. Its a 3d printed hexapod robot dog, I call it HexaDog ZBD (English Pronunciation of ZBD means raggedy in Turkish). I used ESP32 S3 for its brains, 2x PCA9586 boards for servo connections, 18x DS3218 servos, 1x IMU, 3x 15a 300W buck converters and almost 2kg of PLA. Total robot weight is about 2.7KGs with 3s2p 18650 batteries (some sparks were created during the earlier design of the battery case) I have been testing it indoors and outdoors I am quite happy and surprised for the amount of work I got out of ESP32. I plan to convert the gait mechanism from Inverse Kinematics to a small neural network through imitation learning and run it on ESP32 as well if one core can handle the neural network while the other handles the WiFi access point and screen updates it will be golden! I have done the neural network generation from IK and controlled the robot with it in Pybullet now I have to try it on real robot. Total BoM was a close to 400 USD in Turkey (Import Taxes), but I checked on Ali and if you source them form China you can lower the costs down to about 200 USD. Amazon US prices are close to 300 USD. I plan to open source all desing files, scripts and android controller app APK. I am currently cleaning all my design files and scripts and organizing them so once I upload them there are no bugs. I wanted to get community opinion on it to see if anyone would also be interested in building one. If you wish to test it out in simulation before attempting to build one, the github repo link below contains a Pybullet demo of the robot. You can download it and control it in an empty Pybullet environment and check out the simulation script for yourself. https://github.com/serdarselimys/HexaDogZBD-PybulletDemo Let me know what you think, I wanted it to be an affordable and simple modular platform for anyone interested in robotics to experiment with it. submitted by /u/Xerd-R [link] [Kommentare] reddit.com · reddit.com
I have been working on this project over the past 6 months. Its a 3d printed hexapod robot dog, I call it HexaDog ZBD (English Pronunciation of ZBD means raggedy in Turkish). I used ESP32 S3 for its brains, 2x PCA9586 boards for servo connections, 18x DS3218 servos, 1x IMU, 3x 15a 300W buck converters and almost 2kg of PLA. Total robot weight is about 2.7KGs with 3s2p 18650 batteries (some sparks were created during the earlier design of the battery case) I have been testing it indoors and outdoors I am quite happy and surprised for the amount of work I got out of ESP32. I plan to convert the gait mechanism from Inverse Kinematics to a small neural network through imitation learning and run it on ESP32 as well if one core can handle the neural network while the other handles the WiFi access point and screen updates it will be golden! I have done the neural network generation from IK and controlled the robot with it in Pybullet now I have to try it on real robot. Total BoM was a close to 400 USD in Turkey (Import Taxes), but I checked on Ali and if you source them form China you can lower the costs down to about 200 USD. Amazon US prices are close to 300 USD. I plan to open source all desing files, scripts and android controller app APK. I am currently cleaning all my design files and scripts and organizing them so once I upload them there are no bugs. I wanted to get community opinion on it to see if anyone would also be interested in building one. If you wish to test it out in simulation before attempting to build one, the github repo link below contains a Pybullet demo of the robot. You can download it and control it in an empty Pybullet environment and check out the simulation script for yourself. https://github.com/serdarselimys/HexaDogZBD-PybulletDemo Let me know what you think, I wanted it to be an affordable and simple modular platform for anyone interested in robotics to experiment with it. submitted by /u/Xerd-R [link] [Kommentare]
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