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Cybergear Mechanical DOG

An 8-degree-of-freedom parallel quadruped robot using Xiaomi CyberGear motors and STM32F427 control.

  • Quadruped
  • No license: all rights reserved by the creator
  • Work in progress
  • Competition robot
  • 3D printable

Suggested by Robotheca, created by @83417291HLF (opens in a new tab), from github.com/83417291HLF/Cybergear-Mechanical-DOG (opens in a new tab). Pinned to commit 4fe4449 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (3 firmware images)

Photo

This repository has no photo of the robot yet.
Degrees of freedom
8
Reach
200 mm
Height
213.2 mm

What it can do

Written by Robotheca from the project's documents.

  • 8-DOF quadruped robot with parallel legs
  • Controlled by RoboMaster Type A board (STM32F427)
  • Diagonal gait with cycloidal swing trajectories
  • Differential turning and stepping in place
  • Pitch/roll leg-height compensation using MPU6500/IST8310 IMU
  • Geometric inverse kinematics with joint spring/damping compensation
  • Motor-side PD control via CyberGear internal controllers
  • SBUS remote control input with 10 channels

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Assemble mechanical structure and frame
  2. 2Install CyberGear motors and wiring
  3. 3Assemble custom PCB power distribution board
  4. 4Connect and configure STM32F427 control board
  5. 5Install and calibrate IMU (MPU6500 and IST8310)
  6. 6Upload and configure embedded control firmware
  7. 7Test motor communication via dual CAN buses
  8. 8Calibrate remote control input (SBUS)
  9. 9Tune gait and motion algorithms
  10. 10Perform system integration and final testing

The creator's guide is in the repository. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • RoboMaster Type A board with STM32F427IIHx microcontroller
  • 8 Xiaomi CyberGear motors (4 per CAN bus)
  • MPU6500 inertial measurement unit (IMU)
  • IST8310 magnetometer
  • SBUS remote receiver connected via USART1
  • CAN1 and CAN2 buses for motor communication
  • XT60 power input connector

Connections

  • CAN1 bus connects to motor IDs 1–4 (left front and left rear legs)
  • CAN2 bus connects to motor IDs 5–8 (right rear and right front legs)
  • USART1 (PB7 RX, PB6 TX) connects to SBUS receiver with DMA and IDLE detection
  • SPI5 connects MPU6500 IMU (with IST8310 magnetometer)
  • UART7 (PE7 RX, PE8 TX) used as debug serial port at 115200 baud
  • CAN1 uses PD0 (RX) and PD1 (TX) at 1 Mbit/s
  • CAN2 uses PB12 (RX) and PB13 (TX) at 1 Mbit/s