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A project log for Quadruped robot with 22 DoF

This is Quadbot 17, a work-in-progress quadruped robot with 22 degrees of freedom, based on Robotis AX-12 motors and a 3D-printed chassis.

Dimitris XydasDimitris Xydas 08/26/2018 at 13:530 Comments

I have been testing the movement of the robot’s base in the world, while keeping the legs fixed to the ground, as a test of the robot’s stability and flexibility.

The robot base can now be controlled, either via the GUI, keyboard or gamepad, in the following ways:

You may notice the real robot can’t move its upper leg all the way horizontally as the IK might suggest is possible, because there is a small clash between the AX-12 and the metal bracket, but this should be fixed by filing or bending the curved metal tabs:


Software updates

I have recently written an OpenCM sketch to control the robot servos, in a way similar to how it was being done with the older Arbotix-M, but this time using the Robotis libraries for communicating with the motors.

I have also been making various updates to the Python test code, with a few of the main issues being:

All the latest code can be found on the Quadbot17 GitHub project page as usual.

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