# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Cybergear Mechanical DOG
summary: An 8-degree-of-freedom parallel quadruped robot using Xiaomi CyberGear motors and STM32F427 control.
category: quadruped
difficulty: advanced
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/83417291HLF/Cybergear-Mechanical-DOG
  ref: 4fe44491789ca21c21f648e2940523ad2bc32a47
tools:
  - 3D printer
  - soldering iron
  - PCB assembly tools
  - screwdriver set
  - Allen wrenches
files:
  cad: 三维模型/ZZZ-并联四足/
  docs: docs/
specs:
  dof: 8
  reach_mm: 200
  height_mm: 213.2
build_steps:
  - title: Assemble mechanical structure and frame
  - title: Install CyberGear motors and wiring
  - title: Assemble custom PCB power distribution board
  - title: Connect and configure STM32F427 control board
  - title: Install and calibrate IMU (MPU6500 and IST8310)
  - title: Upload and configure embedded control firmware
  - title: Test motor communication via dual CAN buses
  - title: Calibrate remote control input (SBUS)
  - title: Tune gait and motion algorithms
  - title: Perform system integration and final testing