ylo-2

New quadruped robot, working on UP Xtreme board, and BLDC motors from Mjbots

This robot is created from scratch.

The body structure is 3D printed + 1mm carbon tubes

Bec 12v @ 5A (7A peak)

all covers are 3D printed, sanded, painted and coated with a 2K coat

upper and lower legs are Made with ALU 7075, using the CNC process

transmission is done thanks to a timing belt 550 teeth GT3 Both pulleys are alu CNC.

Lower leg has a 3/1 ratio (and motor provides a 6/1 ratio)

foot are silicon made in a 3d printed mold, inserted in force, as a sock...easy to change

3D calibration tool, for all 4 legs

WORKING PROCESS :

• [x] Finish robot

• [x] RT kernel on 18.04 é 20.04

• [x] Peak 4 can working

• [ ] Realsense D435

• [ ] Realsense T265

• [x] Myahrs+ IMU

• [x] Ros noetic

• [x] I2C working on UP Xtreme I7

• [ ] Distance sensors SRF10

• [x] URDF

• [x] Champ Moteus controller (position mode)

• [ ] Improving gait

• [ ] DockStation RTH software

• [ ] VSLAM, GMAPPING and AMCL