What's the goal? There are a few
- Low cost robot to learn more robotics and improve my 3D design stuff
- Proving myself that ROS2 is mature enough for a neat hacker project
- Add a simple programming interface to programm just the robots move and don't care about all the mathematics behind it.
- Have a walking robot before the 36c3 and hacking together an API+Scratch-Extension ( https://scratch.mit.edu/ ) to make it programmable for kids. I think that's a good first milestone.
- Being one of the first ROS2 projects on hackaday (damnit. Last time I looked there were no projects mentioning it) and maybe motivating atleast some person
What hardware do I want to use?
- The ROS2 instance should run on a Raspberry Pi later on
- A bluepill microcontroller ( STM32F103C8 ) for PWM
- 12 TowerPro mg996r servos
What does the journey look like?
Now I kind of hacked together the first prototype of a leg, have a nice mount for it and a hacked together pwm-controller, I want to start implementing most things now and implement the inverse kinematics for just one leg. If this is all done, and hopefully more or less modular, I will go on and build the whole frame for it and start working on walking gates.
To not fail again as in my previous atempts to build a robot I am trying to implement and visualize everything with RVIZ before I am trying it out on real hardware. This will enable me working without the hardware around and hopefully reduce a lot of headaches.
A demo of the current state with visualization in RVIZ can be seen below:
All source code, the pwm controller firmware and openSCAD design files will be published sometime soon.