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Mini Pupper - First ROS,Open-source Robot Dog

Low-cost Robot Dog Platform with Navigation for Education

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Challenge
Boston Dynamics Spot is an amazing robot dog, many people want to own it, but it's too expensive.
TurtleBot is very convenient for study robots, but it is a wheeled robot but not legged. There is no ROS, open-source robot dog platform to study at less than $1,000USD.

Solution and Product
Mini Pupper is the first ROS, open-source robot dog platform that supports ROS SLAM, Navigation, and other AI features, it is a really legged "TurtleBot" at less than $500USD.
It's a Boston Dynamics Spot Robot Dog in the Palm.

Endorsed and highlighted by ROS (Robot Operating System)
https://discourse.ros.org/t/ros-news-for-the-week-of-7-26-2021/21618
Launched on the Stanford Pupper website.
https://stanfordstudentrobotics.org/pupper

Market
As the vendor of Stanford Pupper, we shipped many robot dogs worldwide. Got tons of feedback from people. Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts, and beyond.

Endorsed and highlighted by ROS

                                                   ROS demos(Navigation, SLAM, tracking)

                                                                        3D sensor demo

Problem

During the dog days of summer, you maybe see many demos from Boston Dynamics Spot Mini, and so on, many guys want to own their own robot dog to explore the functions, but the price is too high to accept, and it is not easy to explore the robot dog features.

TurtleBot is very convenient for wheeled robot study, but not legged robots. That means, there is no ROS, open-source robot dog platform to study at less than $1,000USD.

Beginning last year, we shipped many Stanford Pupper units worldwide. After such global success with Pupper, we took to heart all the feedback from this endeavor. What do our customers want in our products? What kind of products do they like? After more than 11 months pursuing these requests, we would like to show you what we came up with. Mini Pupper!

Solution and Product

Mini Pupper is the first ROS, open-source robot dog platform that supports ROS SLAM, Navigation, and other AI features with Lidar, camera, and other sensors. It's really a Boston Dynamics Spot Robot Dog in the Palm and legged "TurtleBot"  for study at less than $500USD. 

Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts, and beyond.

Design

Our Mini Pupper servo is a custom servo to meet the requirements of our new Pupper! Compact, Durable, Unique. To run the Mini Pupper organically and smoothly, high torque & high-fidelity servos were required. We tested many servos on the market and have not found any 9g servo up to the task. After too many Q.C issues we finally gave up on off-the-shelf hobbyist servos, the last thing we want is for our intelligent customers to be let down by poor quality servos. So, we spent several months optimizing and configuring a servo that would work for our project, including tuning the servo parameters ourselves! It is now named Mini Pupper servo.

Explore the Gait Performances

You can use our Mini Pupper to explore many gait performances, such as Trot (diagonal pairs), Pace (lateral pairs), and the Bound (front and rear pairs). We’re confident our Mini Pupper Servos will outperform any servo for the balance of performance and price.

The Mechanical Design

 The mechanical design is simple, stable, and beautiful. You can find many prototype quadruped robots, but few can go to market because of their complex design! Difficult to assemble, lack stability while trotting, and require unpredictable costly repairs. For the average engineering student or extremely curious individual these quadrupeds will work, however, they are not suitable for mass production. The Mini Pupper addresses these issues by creating a professional robot designed specifically for mass production, driving unit costs low enough for even low-budget schools to acquire the robots for learning. Driving innovation for the next generation of robotics enthusiasts. Unlike other 3D printed robots, we use metal threaded inserts to ensure customers can disassemble and reassemble easily while making repairs after extensive use. All parts are secured with quality fasteners ensuring great fit and function as well as durability of the unit. Cleaner builds were achieved by customizing the servo cable length and integrating the IMU into our carry board to reduce the wiring necessary and have an overall clean setup in the body of Mini Pupper. No lose wires! Unlike other enthusiast-made kits, our Mini Pupper does not require the user to...

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NewShell_20210618150441.png

Designing new shell to make it clear and simple

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NewShell_20210618150511.png

Designing new shell to make it clear and simple

Portable Network Graphics (PNG) - 112.47 kB - 06/18/2021 at 07:54

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NewShell_20210618150517.png

Designing new shell to make it clear and simple

Portable Network Graphics (PNG) - 90.16 kB - 06/18/2021 at 07:54

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Discussions

David Greenberg wrote 09/02/2021 at 21:08 point

This is very cool! I can't find links to the autonomous navigation code--could you post a link to that?

  Are you sure? yes | no

Afreez Gan wrote 09/03/2021 at 00:57 point

We are still updating the source code, including the new Lidar(smaller and more beautiful ) module and 3D camera module, will update the pictures and videos before next weekend, plan to release all the source code after our Kickstarter campaign. We are trying to make the campaign live before the end of this month.

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Afreez Gan wrote 06/10/2021 at 08:20 point

Thank you very much!

We spent much time optimizing the performance and quality, you know, there is still no off-the-shelf hobbyist servo for the quadruped product. The custom servo can ensure Mini Pupper runs stable much longer without breaking.

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Jarrett wrote 06/10/2021 at 06:28 point

Could you go more into what you did for your custom servo?

Project looks intriguing, good work!

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