• ### SmallKat Education package availible (Open Courseware)

Here is the entire content set of the course materials for teaching SmallKat Dynamic Walking class. For High School teachers, stretch out lab one and 2 for the semester. For College level, teach through the dynamics controller assuming a background in Linear Algebra, single limb kinematics, and basic mobile base kinematics.

Lesson Plan: http://lesson.smallkat.org

Recorded lectures: http://videos.smallkat.org

Results from the first run of the class: http://showcase.smallkat.org

System Documentation: http://docs.smallkat.org

Source Code: http://code.smallkat.org

• ### Howto Balance the SmallKat

I made a video explaining the math governing the SmallKat's balance control system.

• ### SmallKat Math Video!

I have posted the video for this weeks lecture on the Math of the SmallKat

• ### SmallKat Kinematics

11/10/2019 at 23:24 1 comment

This weeks videos have to do with the math the controls SmallKat. Tune in if you are a math nerd looking to understand robot kinematics!

• ### SmallKat Assembly and Calibration Videos!

I have filmed a set of videos that take you through assembly and calibration of SmallKat Grace.

• ### SmallKat Curriculum!

Here is a link to the SmallKat teaching curriculum:

Here are the lab procedures:

http://commonwealthrobotics.com/Mobile-Base-Control/BasicWalking/

The lectures are being recorded one by one as the class is taught in B term (Mid October through End of December). They will be recorded and posted on youtube.

• ### Design Revision: Update 2

Its been some time since the latest revision of the cat but we have been busy. We tested the last version from our previous design update and found it to be a little too big and heavy for what we wanted. For this version we essentially combined the original version and last version together. The features of this version include the following updates:

• Longer legs and a slightly larger body with same setup as orginal
• Uses M3 hardware for easier procurement and assembly. M2 nuts constantly stripped out of plastic.
• Optional encoders for additional feedback
• Improved calibration
• Better aesthetics

This version of the cat has more parts than the original however the assembly process is significantly easier and it is more robust. Additionally replacing servos and other parts takes much less time.

The next step will be wiring and running this version through some tests with walking and fixing a few small design errors with tolerances. This version is getting closer to what we hope a final and commercial product would like. Still a lot of work and testing to go before we get to that point. For now enjoy the working prototype featured on our page!

• ### A friendly user helped out with a wiring diagram!

Shout out to @jtechs who made a lovely wiring diagram as he builds the FIRST build of SmallKat made by another person!