Although Lidars are getting cheaper these days, 3D lidar can still cost >$4000 such as VLP-16. An alternative approach is to create a 3D lidar by rotating 2D lidar such as mentioned in this article that is using Hokuyo 2D lidar that is still quite expensive and cost a few thousand bucks[……]
ChiTu II is a ROS-enabled quadruped robot actuated by 12 9g-level metal servo motors. It is an upgraded version of Quadruped ChiTu with servo motors that doubles the torque and adaptive foot 3D-printed with carbon fiber filled nylon. It is equipped with IMU and controlled with Rapberry[……]
A ROS-enabled quadruped robot built with very powerful 46kg.cm servo motors. It is equipped with IMU and controlled with Nvidia Jetson Nano.
Yuki Mini is a 12 DOF quadruped robot. It is controlled with a Raspberry Pi, an IMU, and off-the-shelf 9g-level servo motors. And it uses ROS in its software. It can jump, run (as fast as 1m/s), climb over obstacles, and move in omni-directions.
A 3DOF leg wit[……]
A ROS-enabled mini quadruped robot. A brand new design that is a very mini (and low-cost <$100) version of Quadruped Tsuki. It is small enough to be able to walk around on the desktop!
Tsuki Mini was designed using Fusion 360. He has 12 degrees of freedom.[……]
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[……]
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[……]