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"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