"BigSpot" - quadruped robot

demo video : https://youtu.be/u6ZRoQI9YBw

The BigSpot has the following main components:

Hardware

• Raspberry Pi 4B +

• Raspberry Pi Camera

• MicroSD 32G

• 4 x 12A Step Down Module

• 2 × HC-SR04P Ultrasonic sensor

• 1 × MPU-6050 Gyro sensor

• 1 × I2C 16x2 LCD Module

• 7.4v Battery ( 2s2p )

• 6 x F625ZZ

• 2 x pca9685

• 12 x RDS5160 servo moter

• 20A Push button (Lock type)

• 18AWG

• 12V 5A Adaptor ( test )

• 50A LED Display

• PS4 DualShock compatible Joystick

• XT60H +/-

• USB wlan / NEXT-202N-MINI

• HDMI to MICRO HDMI gender

• IMAX B6

• UK 831N Multi tester

gazebo

roslaunch bigspot run_gazebo_only.launch
roslaunch bigspot_joystick ramped_keyboard.launch

real

roslaunch bigspot run_robot_real.launch
roslaunch bigspot_description controller.launch
roslaunch bigspot_joystick ramped_joystick.launch

etc

roslaunch bigspot_mpu6050 mpu.launch
roslaunch bigspot_mpu9250 mpu.launch
roslaunch bigspot_lcd lcd.launch
roslaunch bigspot_rgb rgb.launch
roslaunch bigspot_ultrasonic ultrasonic.launch

packages

sudo apt install ros-noetic-joy
sudo apt install ros-noetic-ros-controllers
sudo apt install ros-noetic-imu-tools
sudo apt install libgpiod2

pip3 install pygame
pip3 install adafruit-circuitpython-rgbled
pip3 install adafruit-circuitpython-motor
pip3 install adafruit-circuitpython-servokit
pip3 install adafruit-circuitpython-rgbled 	# https://github.com/adafruit/Adafruit_CircuitPython_RGBLED

Credits

• mike4192 : https://github.com/mike4192/spotMicro
• lnotspotl : https://github.com/lnotspotl/notspot_sim_py