Main Content

Cheap 3D printed 4 legged robot, that almost looks like boston dynamics spot but moves like a newborn.

Being a undergradute in physics and bored of solving paper problems, i decided to solve and apply a real world problems so i started this robotics project in order to introduce my self to control theory, studying its maths and practicing pragramming. It runs with Raspberry Pi 4 as brain, plus an Arduino Mega for reading/writing of signals of 12 hobby servos and IMU, controlled by a PS3 Dualshock.

The code which is mostly written by me, using python3 along with some typical libraries for the task, for now implements a walking loop inside a kinematic model, so you can command a pose to the body, as well as feet position and also velocity and directinal commands for the walking loop. Controlled by a ps3 controller via bluetooth.

Arduino is used for speed up the reading and writing of signals, so in the future i can add other sensor, as well as position feedback…”

Link to article