An open-source, affordable, dynamic quadruped robot
Another short video update:
Another mini-video update:
A tiny bit more progress, in the form of a video:
I've done some work on more graceful failure handling, just a video here...
I've made a lot of progress in the last year, but of course still have a lot to do! This update video has a quick tour.
And now for some details, eventually I guess I should split these up into their own separate hackaday.io projects...
I'm up to the fourth version (r3.1) of the open source moteus brushless controller, designed explicitly for legged robot applications. It has a similar purpose to the Dizzy Servo https://hackaday.io/project/164175-custom-motor-for-robotics or the Mini-Cheeta controller, http://build-its-inprogress.blogspot.com/search/label/HobbyKing%20Cheetah but was designed to support a higher bitrate communications channel and eventually be produced in moderate volumes.
This version has received a fair amount of testing. It is possible to heatsink to the back of the board, and I did some thermal profiling while doing so: http://jpieper.com/2018/12/14/ht-18-thermal-imager-macro-mod/
I've also run it in a jumping configuration continuously for hours at a time.
The moteus controllers are integrated, along with a disassembled brushless 8108 quadcopter motor and a planetary geartrain, into the moteus servo.
The mounting patterns allows for a variety of useful mounting configurations. Combined with the internal bearings, it can support large cantilevered loads, like those required for a jumping robot.
With a similar design spirit to the Mini-Cheetah, the mjbots robot leg is designed to be largely 3d printed from PETG rather than machined. It provides excellent maneuverability in all three axes.
The robot is a chassis with an integrated computer, battery mount, power distribution, and 4 mjbots robot legs. It runs the open source mjmech software for gait sequencing and control.