Project Information

Quadbot 17

Synopsis
This is Quadbot 17, a quadruped robot born out of a learning exercise in Autodesk Fusion 360. The robot hardware is currently under development. The basic structures of the legs have been assembled, and some of the test software has been written, and Quadbot has taken its very first steps!
Resources
Created by m3atsauc3 | Forum Thread Link | External Link
Ongoing
1-5 pounds
420 x 200 x 312 mm
15-30 minutes
Python, C/C++
Powersource: LiPO / LiON

Locomotion: Quadropod

Controller/CPU: PC, Arbotix-M

Sensors

One of the following to be decided: Intel RealSense, Scanse Sweep, Kinect v2

Actuators

AX-12A Dynamixel servos

Description

This quadruped robot uses AX-12A Dynamixel servos. The legs currently have 20 DOF and there are an additional 2 DOF for the body. Servos and brackets are from the Robotis range, with some replaced by their metal counterparts available from Trossen Robotics. They are painted to match the colour theme. The rest of the parts will be mostly 3D printed where appropriate. The main framework of printed parts forming the body will be sandwiched between 1.5 mm thick custom aluminium plates.

The novel aspects of this quadruped are its articulated legs, which have higher DOF than usually found on small quadrupeds, and its articulated "spine", which will help it in navigating uneven terrain.

This robot shares many ideas and knowledge gained from my other Dynamixel-based robot, the ROSoloid. Whether or not it gets integrated with ROS and the custom GUI remains to be seen. At the very least, the Raspberry Pi will run the kinematics and walking gait code.

One main thing I felt the ROSoloid humanoid robot was missing was an advanced sensory system. The advantage of the quadruped is its capability to carry heavier loads and provide a stable platform for sensors, hence the idea to add a 3D scanner! The size of a RealSense/Kinect etc. seems to be perfectly fitting with the rest of the profile.

Current test leg kinematics software is written in Python, and communicates motor position commands via serial to an Arbotix-M controller.

The build progress of this robot can be followed on my personal website.