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Open-source quadruped robot dog with manipulator

A 12-DOF quadruped robot dog with a 6-DOF manipulator, featuring five-bar linkage legs and a BeagleBone Black + STM32 control system.

  • Quadruped
  • No license: all rights reserved by the creator
  • ROS
  • 3D printable

Suggested by Robotheca, created by @GitHub-Xuming (opens in a new tab), from github.com/GitHub-Xuming/robot_dog (opens in a new tab). Pinned to commit 9b45408 (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.

Photo and 3D model

This repository has no photo of the robot yet.

3D model loaded from the original files on GitHub at 9b45408, under NONE. View the original files from GitHub (21.3 MB) (opens in a new tab)

Payload
18 kg

What it can do

Written by Robotheca from the project's documents.

  • Walks on four legs with twelve degrees of freedom
  • Carries a six-axis robotic arm with a gripper
  • Runs gaits and body motions using inverse kinematics
  • Supports open-loop "chicken head" mode for arm-head coordination
  • Communicates in real time with a BeagleBone Black via full-duplex UART at 1 Mbaud
  • Measures leg loading with FSR force sensors
  • Uses IMU and optical flow on the arm end-effector for displacement feedback

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's guide is written in Chinese. 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

  • BeagleBone Black as upper-computer running control algorithms
  • STM32F407 microcontroller as lower-computer running FreeRTOS
  • Twelve MG958 servos for leg joints powered at 6.6 V via ten 5 A buck modules
  • Bus servos for the six-axis robotic arm at 1 M baud
  • FSR force sensors with voltage-divider resistors
  • Relay and diode for reverse-polarity protection
  • 7805 voltage regulator for MCU and peripherals
  • IMU and optical flow sensor on the arm end-effector

Connections

  • PWM servos use optocoupler isolation circuits
  • Bus servos and other peripherals connect directly to the STM32F407
  • FSR sensors are wired through a voltage-divider to the STM32F407
  • BeagleBone Black and STM32F407 communicate over a full-duplex UART link