Quadruped Robot v0.6 - w/ code — STL Grátis

Update v0.6

I sat down to correct some of the things I considered be weaknessess in the design. Mainly the fasteners.
I wanted to keep this version of the Quadruped budget friendly.
The more robust big brother Quadruped v1.0 is more expensive with bearings and more robust components.

No code or electronics were changed. The only change to v0.6 was the mechanical components.

Find more information at @TomKnox on printables.

What changed v0.5 → v0.6?

Some redesign of the chassi.
Streamlined the fasteners to M3 button cap screws.
M3 Heat Inserts.
Mounting bracket for electronics.

You can support my work and buy me a coffee here: Buy me a Coffee!
It helps a lot and enables me to continue this hobby!

Print guideline

Here are print guidelines for you to follow in order to have decent success with printing parts:

Infill type	Gyroid, Honeycomb, Triangle or Cubic
Material Structural	PETG or ASA, ABS, PCTG, PA, PC, (TPU for Feet)
Material Visual	PLA or whatever you think looks good.
Infill percentage	35% Structural \| 15% Cosmetic
Layer height	0.2mm, recommended
Wall count	Recommended: 4
Solid top/bottom layers	Recommended: 5
Extrusion width	0.4mm, recommended

Tools

Needed or good to have tools for this project.

Soldering Iron TS101	Aliexpress Link	Amazon Link	(Recommended)
Heat Inset Tip Kit - For TS101	Aliexpress Link	Amazon Link	(Recommended)
Electric Precision Screwdriver	Aliexpress Link	Amazon Link	(Recommended)
Allen Key Set	Aliexpress Link	Amazon Link
Torx Key Set	Aliexpress Link	Amazon Link
Torque Screwdriver	Aliexpress Link	Amazon Link
Wire stripper	Aliexpress Link	Amazon Link
Wire cutter	Aliexpress Link	Amazon Link
Heat Insert Press Tool	Aliexpress Link	Amazon Link
Crimp Tool	Aliexpress Link	Amazon Link

Soldering Iron - Generic (Alternative)	Aliexpress Link	Amazon Link	Budget friendly alternative
Heat insert tip - set (Alternative)	Aliexpress Link	Amazon Link	Budget friendly alternative
Precision Screwdriver Set	Aliexpress Link	Amazon Link	Budget friendly alternative

Consumables

Heat insert set	Aliexpress Link	Amazon Link
Wire - Power	Aliexpress Link	Amazon Link
Wire - Communication / Signal	Aliexpress Link	Amazon Link
M3 Button Cap Screw set	Aliexpress Link	Amazon Link
M3 Torx Screw Set	Aliexpress Link	Amazon Link
M3 Socket Head Cap screw set	Aliexpress Link	Amazon Link
Ferrules Set	Aliexpress Link	Amazon Link
Reusable Velcro Cable Ties	Aliexpress Link	Amazon Link

Filament - PC / ASA / ABS / PETG	Aliexpress Link	Amazon Link
Filament - Engineering Grade Filaments	Aliexpress Link	Amazon Link	Carbon Fibre & High Temp
Filament - PLA	Aliexpress Link	Amazon Link
Filament - TPU	Aliexpress Link	Amazon Link

Installation

Follow the assembly guide for instructions on the mechanical assembly.
Follow the instructions for software and electronics.

Computer vision controller

The computer vision controller has a few extra steps that can seen here. Specific to the computer-vision controller you will also need to run python3 image-sender/rpi_send_video.py to pass camera data to you computer, in this case make sure to change the IP and Port to the ones used by the controller.

Intro

This project was created with the intention of developing a robot that can follow users as a proof of concept for a larger assistant quadruped. The associated code allows for keyboard based control or computer-vision-based control and was structured such that new controllers can easily be implemented by sending momentum packets to the raspberry pi.

Robot Control

The robot uses an inverse kinematic model to determine how to position the foot in the requested location. Some of the math for this can be seen in the model directory with the jupyter notebook

Bill of Material

Download the BOM in the download section.