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On his feets

A project log for K3lso Quadruped

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

Robin FröjdRobin Fröjd 04/22/2021 at 20:020 Comments

A big milestone for me! I started this project about 7 months ago and today is the first time #k3lso stands on his own feets!

The consumption is 1A @36v for stand.

More to come later on!

the specs:
Acuator peak torque: 54Nm
Robot target weight: 18kg (at the moment 16.9kg without cover, battery included)
Onboard computer: UP Xtreme i7C1-8565U running Ubuntu 18.04
Modifed kernel: 5.4.65 with PREEMPT_RT patch and full control for GPIO header.
CAN (12-Channels): PCAN-M.2 4 Channels,  2 x  PCAN-miniPCIe FD 4 Channels.


Battery: 10S3P 9000mAh (1.5KG)
Body structure: 7075 aluminium
Legs: Milled Carbon Fiber
Knee transmission: Chain with mechanical advantage of 1.4.
Voltage: 10S

If you like to see more progress on my build you can follow me on Twitter: R_frojd



#quad #quadruped #robotics #UPXtreme #Realsense #ROS #spot #mit #cheetah #bostondynamics #mjbots #GTC21 #Nvidia #GTC #NVIDIAGTC #NVIDIA #GTCwithMe #leggedrobotics

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