A Quadruped robot based on the Kangal model and equipped with an ESP32 to control everything. Project during the minor in Robotics at the University of Applied Science of Leiden (Netherlands). Note: this project is still in a development phase, which means that some things may not be finished yet.
- Tibia: The lower part of the leg.
- Femur: The upper part of the leg.
- Coxa: The shoulder part.
Below is a list of parts, which is divided into essential and optional parts depending on how you want to build your version of the robot.
| part name | description | unit |
|---|---|---|
| ESP32 LOLIN32 | cpu | 1 |
| PCA9658 module | servo motor controller | 1 |
| SPT5430HV-180W 8.4V | HV servo motor | 12 |
| DC-DC buck converter | 7V-28V to 5V 3A | 1 |
| 1S3P 18650 battery | lithium ion battery | 2 |
| Round Rocker Switch | Switch with LED | 1 |
| part name | description | unit |
|---|---|---|
| HX-2S-JH20 | lithium ion 2S charger | 1 |
| WS2812 RGB LED | RGB LED for eyes | 2 |
| PDC004-PD 9V | usb-c PD decoy module | 1 |
| STPS2045C | power shottky rectifier | 1 |
| battery indicator | Lithium Battery Capacity Indicator | 1 |
During our project we made a lot more video, you can find them in the playlist.
By default, the robot connects to a few types of controllers that communicate over bluetooth, these are:
- Parrot FlyPad (Hard to get)
- GameSirT1D
- Bluetooth LE joystick supported
What each button on your controller represents:
| key | control | key | control |
|---|---|---|---|
| A | walk / stop | L2 + L1 | step speed interval - |
| B | gait change | L2 + R1 | step speed interval + |
| X | balance mode | L2 + X | step height - |
| Y | flash ledstrip | L2 + Y | step height + |
| THUMB - L | save settings | L2 + A | step dist - |
| THUMB - R | load settings | L2 + B | step dist + |
| DPAD - L | toe offset - | R2 + L1 | toe offset - |
| DPAD - R | toe offset + | R2 + R1 | toe offset + |
- IK model 12-DOF Quadrupedal Robot: InverseKinematics by Adham Elarabawy
- Kangal cad files by Baris ALP
- ESP32 QuadRuped code from PingguSoft.