Everything Connected

A project log for Pico-Kubik quadruped robot

The tinniest Arduino quadruped robot.

dehipude Éhipu 11/24/2014 at 23:080 Comments

Finally all the parts come together: 12 servos, Arduino Pro Mini, VoCore board, camera module and battery. I was a little worried about the battery handling this load, but it turns out it is around 400mA together (VoCore is up to 200mA alone). It will probably be more when the servos work, but the battery should still handle that.

Of course I initially connected the serial line from VoCore to Arduino backwards, but fortunately no other problems. The serial line works, but I still need to build a custom image for the VoCore to disable logging to console on it -- otherwise it interferes with the servo commands.

The UNIX version of Micropython works nicely on VoCore, and can write to the serial just as to a normal file. The example program I run just shifts the whole body around a little, and it went a little crazy because of the console logging, but it will work just fine.

The camera only works in the photo mode, with fswebcam, and I can't get it to stream, but I think I will leave it for now. I might get it to work later on.

What is left now is all the software, as well as holding all the parts together in a better way than with a rubber band. I also might add a voltage regulator later on, when I get one small enough.

And how about a paper chassis, making it look like the robots in Uber's failed Human Resources? I will have to think about it!