Introduction

A ROS-enabled highly-dynamic quadruped robot. A brand new design that is stronger, faster and more robust than Quadruped Kaze.

details comming soon…

Introduction

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

A customiz[……]

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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[……]

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Circuit

Bomlist:

• 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[……]

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Basic idea

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[……]

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Previous posts:

• inspiRED Leg Upgrade [step 0]: Fusion360 model
• inspiRED Leg Upgrade [step 1]: Laser Cutting Parts

• inspiRED Leg Upgrade [step 2]: Leg V2.0 with New Shock Absorber

• inspiRED Leg Upgrade [step 3]: Leg V3.0 with Collision Problems Fixed

This is [step 4] for the leg upgrade in my[……]

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Previous posts:

• inspiRED Leg Upgrade [step 0]: Fusion360 model
• inspiRED Leg Upgrade [step 1]: Laser Cutting Parts

• inspiRED Leg Upgrade [step 2]: Leg V2.0 with New Shock Absorber

This is [step 3] for the leg upgrade in my inspiRED humanoid bipedal robot project.

The basic idea to solve the[……]

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Previous posts:
* 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[……]

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This project involves building an indoor self-driving mobile platform featured with laser scanner and ROS support. Here are some important features:

• The body of the robot is laser cutted Acrylic chasis. I got within $10 from China. It also comes with 2 DC motor and holes for encoder mount[……]

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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[……]

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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[……]

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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:

    su root
    adduser odroid audio

then when you typegroups odroid , you will see that the user odroid is in the audio group. Then you can play sound through the 3.5mm[……]

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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.

Set up:

Odroid U3:

1. sudo apt-get install vnc4server or sudo apt-get install tightvnc4server.
2. tap vncserver :1 which means open p[……]

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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[……]

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