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A project log for Wolfie

The second version of quadrupedal robot based on custom brushless actuators

Peter WasilewskiPeter Wasilewski 08/05/2021 at 20:210 Comments

Hey!

Just recently I have finally finished the first Wolfie prototype: 

Here are some assembly photos: 

- Hip actuators mounted to the 3D printed frame:

- Thigh actuators mounted to the hip actuators and cables routed to the inside of the torso:

- Battery inserted from the bottom side:

- and finally, the tibia actuators mounted to the rest of the assembly:

I also created a short demo of the body kinematics using a PS3 pad as the controller:

The robot is still powered from a bench PSU and the commands are sent through a USB<>FDCAN, but soon I'll be able to make it completely standalone :) It looks like I should fit in 4 kg of the total mass. 

In the end, I want to mention the presentation about Wolfie which I gave during the Reddit r/Robotics Showcase. The whole event was recorded so feel free to check that out (my presentation starts at 01:04:30): 

https://www.youtube.com/watch?v=HLFfAnheun8&t=137s&ab_channel=theredditroboticsshowcase

A more detailed description of the assembly is available on my blog: https://pwwprojects.blogspot.com/

Stay tuned for more updates! 

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