Tech

DIY 3D Lidar

January 3, 2022 Tech No comments

Introduction

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[……]

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Quadruped ChiTu II

October 24, 2021 Tech No comments

Introduction

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[……]

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Quadruped Yuki

June 26, 2021 Tech No comments

Introduction

A ROS-enabled quadruped robot built with very powerful 46kg.cm servo motors. It is equipped with IMU and controlled with Nvidia Jetson N[……]

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Quadruped Yuki Mini

May 4, 2021 Tech 2 comments

Introduction

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 use[……]

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Quadruped Robot Tsuki Mini

September 6, 2020 Tech 4 comments

Introduction

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 sma[……]

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Quadruped Robot Tsuki

October 13, 2019 Tech 9 comments

Introduction

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

drawing[……]

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Quadruped Robot Kaze

September 7, 2019 Tech 2 comments

Introduction

A ROS-enabled heavy-load quadruped robot built with strong RDS 3135 servo motor. A simple python library is introduced for multiple serv[……]

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Servo Motor Control Using PCA9685 and Python

September 1, 2019 Tech 2 comments

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,[……]

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A Low-cost ROS Navigation Platform

January 4, 2018 Tech 2 comments

A low-cost ROS navigation platform equipped with:
* Odroid XU4 ~$80
* YD Lidar ~$80
* STM32 base board ~$40
* Battery ~$20
* Chassis with 2xDC mo[……]

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Build a Smart Servo [step 1]: Circuit, Torque Sensing and PID Control

November 18, 2016 Tech No comments

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 i[……]

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Build a Smart Servo [step 0]: Basic Ideas

November 18, 2016 Tech No comments

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.
Fir[……]

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inspiRED Leg Upgrade [step 4]: Run, Forrest, Run!

October 7, 2016 Tech No comments

Previous posts:

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

September 29, 2016 Tech No comments

Previous posts:

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

September 29, 2016 Tech 1 comment

Previous posts:
* inspiRED Leg Upgrade [step 0]: Fusion360 model
* inspiRED Leg Upgrade [step 1]: Laser Cutting Parts

I got some new longer shock a[……]

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Explorer [step 0]: Indoor ROS Self-driving Mobile Platform

September 18, 2016 Tech No comments

{<1>}

This project involves building an indoor self-driving mobile platform featured with laser scanner and ROS support. Here are some important fe[……]

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inspiRED Leg Upgrade [step 1]: Laser Cutting Parts

September 18, 2016 Tech 2 comments

Previous post: inspiRED Leg Upgrade [step 0]: Fusion360 model

I recently got inspiRED Leg version 1.0 ready for my humanoid bipedal robot project wit[……]

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inspiRED Leg Upgrade [step 0]: Fusion360 model

September 6, 2016 Tech 5 comments

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[……]

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Servo Control on Odroid U3 with Arduino and ROS

August 13, 2015 Tech No comments

This article shows you how to drive a hobby servo using Odroid U3.

Upload this to your Arduino board:

/*
 * rosserial Servo Control Example
 *
 *[......]

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Initial Humanoid Robot

July 27, 2015 Embedded System, Tech No comments

Initial is a 40-cm humanoid robot. Its used for testing of running ROS on single board computer, Odroid U3, which talks to a low level controller boar[……]

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Play Sound and Text-to-Speech on Odroid U3

April 30, 2015 Tech No comments

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
    addus[......]

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