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K3lso Quadruped

K3lso is a quadruped robot similar to MIT mini cheetah and MIT Cheetah 3.

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K3lso is a quadruped robot similar to MIT mini cheetah and MIT Cheetah 3.

More to come later on. Build in progress.

 Follow me on twitter for frequently updates: r_frojd

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rraetz wrote 09/20/2021 at 06:29 point

I love this project! Congrats to your work! I have a technical question, though: I see that you are running ROS2. On which level did you implement it (torque control, position control, path planning,...)? Are you running any real-time controllers in ROS?  Thanks for your answer

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Dejan Ristic wrote 07/22/2021 at 08:08 point

Very ambitious project. Love it. Heja Sverige!

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Robin Fröjd wrote 07/22/2021 at 08:25 point

Thanks appreciate it:-) 

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zoxoxu wrote 05/06/2021 at 22:31 point

Hi, could you give some details around the control system for the motors?

I believe the AK10_9 have their own control board so I don't understand the use of the moteus control board

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Allen-Song-shannon wrote 01/20/2021 at 07:26 point

Is this puppy ready for sale? I like the way he looks, but I don't know what his function is. Can it be compared with Boston?

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Robin Fröjd wrote 01/23/2021 at 00:09 point

ready for sale? No its a hobby project. :) 

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Allen-Song-shannon wrote 01/27/2021 at 07:26 point

What a pity! Many of my friends are interested in four-legged robots, but they just don't want to make one themselves, so I'd like to ask if you have any plans to sell it.so I want to ask if you have any plans to sell it. And I have a question, which way is your robot controlled, and how is the control effect?

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Vuong Nguyen wrote 01/17/2021 at 19:12 point

This is awesome. Do you plan any AI models to use for navigation. What chip do you use for the "brain" part?

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Robin Fröjd wrote 01/23/2021 at 00:16 point

Thanks! I am not quite there yet. :) for brain UP Xtreme i7C1-8565U with UP Vision Plus X ( 3x Myriad X)

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kdomanski12 wrote 01/12/2021 at 19:16 point

Great project. Could you tell me how do you want to manufacture the cover of the robot. It will not be bent sheet metal, am I right?


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Robin Fröjd wrote 01/12/2021 at 20:27 point

Thanks! They will SLA printed. you are correct no sheet metal :)

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George Hartt wrote 01/11/2021 at 11:57 point

What rubber did you use for casting the rubber? Did you use any mould release for the 3dp moulds? Awesome work!

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Robin Fröjd wrote 01/12/2021 at 20:23 point

Vacuum die casting. Rubber  Hardness 60! Thanks!

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George Hartt wrote 01/14/2021 at 17:35 point

What sort of Rubber product did you use for casting? Any brand?

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Daniel Nikolajsen wrote 02/03/2021 at 06:02 point

Do you have access to all this stuff at work or do you know any reasonable producer here in sweden? I've found that all plastic producer wants insane prices for the most simple parts, got a quote on 85tkr the last day for just one mold.

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3gfisch wrote 01/10/2021 at 21:33 point

wow this is awesome and beautiful, i like the evil black and red look even more then the boston dynamics look

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Robin Fröjd wrote 01/12/2021 at 20:12 point

Many thanks for the kind Words! :)

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Jay Polo wrote 01/10/2021 at 18:02 point

I love it!  Curious, what's your estimated build budget?

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Robin Fröjd wrote 01/12/2021 at 20:12 point

Thanks! I do not have these numbers yet.

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Chris Bruner wrote 01/06/2021 at 17:43 point

What motors are you planning on using?

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Robin Fröjd wrote 01/06/2021 at 17:56 point

AK10-9

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David wrote 01/06/2021 at 17:38 point

Great project! Where is the video where it get kicked around by humans and then hunt them down? I guess the software and movement part is actually the hardest.

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Robin Fröjd wrote 01/06/2021 at 17:57 point

haha thanks! It will run cheetah mpc controller to start. 

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Sajiv Shah wrote 01/06/2021 at 07:21 point

This is incredible stuff not sure why it doesn't have thousands of followers. Love seeing the updates!

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dhruv wadhwa wrote 01/06/2021 at 08:40 point

Yeahh

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Robin Fröjd wrote 01/06/2021 at 17:58 point

thanks 😊 

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Mike Szczys wrote 12/30/2020 at 23:25 point

Whoa, incredible! Of course the milled parts are spectacular, but the rubber parts that you cast look amazing. Looking forward to following along on what is certainly a long journey ahead ;-)

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Robin Fröjd wrote 12/31/2020 at 12:28 point

Thanks Mike! :-)

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GekkePrutser wrote 12/29/2020 at 23:22 point

This is so amazing!!
Super professional.

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Robin Fröjd wrote 12/29/2020 at 23:52 point

Thanks 😊

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rraetz wrote 12/29/2020 at 13:15 point

This project and your progress is incredible! Are you working full-time on this project? Or how do you realize this complex project this fast? 

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Robin Fröjd wrote 12/29/2020 at 15:15 point

Thanks for the kind Words! Nah. only on my spare time as a hobby ( a few hours every night) :) 

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Nickle the Pickle wrote 12/28/2020 at 20:50 point

This is bad-fucking-ass!

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Robin Fröjd wrote 12/28/2020 at 21:48 point

Thanks! exactly what I was aiming for :)

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Charles Galambos wrote 12/28/2020 at 15:09 point

Great looking build!    Have you got any ideas about the software you are going to use to control it?

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Robin Fröjd wrote 12/28/2020 at 16:03 point

thanks! Yes to start cheetah mpc controller 

https://youtu.be/UE5tCgVueE0

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Robin Fröjd wrote 12/28/2020 at 12:04 point

Please clarify your question?

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Ivan Stepaniuk wrote 12/28/2020 at 11:28 point

Impressive work. Is this a commercial endeavour, is it open source? I can't even imagine how many hours of design and CAD work this took. Following!

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Robin Fröjd wrote 12/28/2020 at 12:04 point

At the moment only for fun :) But I guess it will be open source in the end. ;) Thanks!

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Adam wrote 04/24/2021 at 19:26 point

Please do open source anything you can. 

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Robin Fröjd wrote 12/27/2020 at 10:13 point

help you with what?

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