A ROS-enabled highly-dynamic quadruped robot. A brand new design that is stronger, faster and more robust than Quadruped Kaze.
Tsuki was designed using Fusion 360. He has 12 degrees of freedom. 12 RDS3135 servo motors are used as actuators. The motor driver syst[……]
A ROS-enabled heavy-load quadruped robot built with strong RDS 3135 servo motor. A simple python library is introduced for multiple servo motor control with no position feedback. This is an up-graded version of Quadruped 9G that I built one year ago.
Servo Motor Driver
I wrote an article on ROS servo motor control two years ago, and the method was successfully applied in my previous 9g Quadruped Robot project. Later, I figured that if I don’t need servo motor pose feedback, or handling servo motor group movement in the microcontroller level, things can be much eai[……]
A low-cost ROS navigation platform equipped with:
* Odroid XU4 ~$80
* YD Lidar ~$80
* STM32 base board ~$40
* Battery ~$20
* Chassis with 2xDC motor with encoder ~$30
Hector SLAM test
- The servo I use is RDS3128 (28kgcm torque, 8V voltage, $20).
- The DC motor driver is MC33926 from Pololu ($17).
- And the MCU is an Arduino with Atmega32u4 on it(same configuration as Arduino Leonardo but smaller and cheaper $5)
I desoldered the original circuit board in the[……]
The basic idea is to build a smart servo like Dynamixel, which is expensive and has more features than regular RC servos of course.
First of all let’s compare the regular RC servos and smart servos like Dynamixel.
- Smart servo:
- Internal structure: MCU, DC motor driver, angle sensor[……]
This is [step 4] for the leg upgrade in my[……]
This is [step 3] for the leg upgrade in my inspiRED humanoid bipedal robot project.
The basic idea to solve the[……]
* inspiRED Leg Upgrade [step 0]: Fusion360 model
* inspiRED Leg Upgrade [step 1]: Laser Cutting Parts
I got some new longer shock absorber and designed new laser cutting parts to mount them for the leg of my humanoid bipedal robot project.
The previous shock absorber I used is ba[……]
This project involves building an indoor self-driving mobile platform featured with laser scanner and ROS support. Here are some important features:
Previous post: inspiRED Leg Upgrade [step 0]: Fusion360 model
I recently got inspiRED Leg version 1.0 ready for my humanoid bipedal robot project with some laser cutting parts designed with Fusion 360.
Here are all the old hand-crafted parts and the new laser cutting parts:
The white hand-cra[……]
I recently got started reworking on the leg of my inpiRED bipedal Humanoid robot project. The basic idea is to draw all the CAD files using Fusion 360 and simulate the whole thing in a simulator with physical engine.
This is the old version I have got. Some of the parts were 3d printed using the[……]
This article shows you how to drive a hobby servo using Odroid U3.
Upload this to your Arduino board:
* rosserial Servo Control Example
* This sketch demonstrates the control of hobby R/C servos
* using ROS and the arduiono
* For the full tutorial write up, visit
After one week hacking I finally found out how to play sound or do text-to-speech on Odroid U3.
What you need to do is simply:
adduser odroid audio
then when you type
groups odroid , you will see that the user odroid is in the audio group. Then you can play sound through the 3.5mm[……]
This tutorial is aimed to set up the VNC server on your Odroid U3 so that you can get full access to its GUI using your laptop or desktop without using a HDMI display.
sudo apt-get install vnc4server or
sudo apt-get install tightvnc4server.
vncserver :1 which means open p[……]
Set up Odroid U3 with ROS
Flash the MicroSD card with new image (optional)
The MicroSD card which comes with the Odroid set has been flashed with the image on Odroid official website: http://com.odroid.com/sigong/nffileboard/nfileboard.php
However a Robotics Edition image is also available h[……]
Hardware: Ipad 4
Hardware: IPad 4
Hardware: iTouch 4
App: SketchBook Mobile