Mujina

A quadruped walking robot (Mujina) whose CAD data is published in this repository.

Bill of materials

This repository has no parts list Robotheca can read yet.

The creator's steps, each with its instructions.

1Set up the LattePanda IOTA PC following the mujina_ros README
2Configure LattePanda Auto Power-On
3Write motor IDs and update motor firmware using motor_tool.md
4Write firmware to the USB 9-axis IMU module and USB-CAN FD interface, then insta
5Install the LattePanda IOTA PC inside the robot following lattepanda.md
6Wire the motor cables and internal harness following cable.md
7Insulate the XT30 (2+2) connectors of motors that have no motor cable connected

The guide appears here as you scroll.

Guide by @rt-net (README.md), under CC-BY-SA-4.0. The English translation is by Robotheca, shared under the same license.

Notes written by Robotheca from the project's documents.

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 6eaa30f. It isn't a rating of the robot.

3D and CAD files10/20
1 CAD source file.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Instructions to install or run it, built on ros2.
Link to your code, or add it to this repository.
Documentation10/15
README of 656 characters with 8 pictures; 7 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: CC-BY-SA-4.0; software: CC-BY-SA-4.0.

Written by Robotheca from the project's documents.

Set up the PC as described in the Mujina_ros README before assembly
Enable Auto Power-On on the LATTEPANDA IOTA so the PC starts when power is applied
Write motor IDs and update motor firmware following motor_tool.md
Write firmware to the USB IMU module and USB-CANFD interface following firmware.md

Robotheca doesn't review code. Read it before running it.

Every file of the project: code, CAD, electronics, guides, at commit 6eaa30f.

Questions and improvements go to the creator's repository.