openDog V3
A quadruped robot dog built from 3D-printed PLA parts, driven by ODrive-controlled motors with AS5047 absolute encoders and a remote-controlled walking mode.
- Quadruped
- Open source
- arduino
- 3D printable
Suggested by Robotheca, created by @XRobots (opens in a new tab), from github.com/XRobots/openDogV3 (opens in a new tab). Pinned to commit 537aa0d (opens in a new tab).
- Hardware license
- MIT (opens in a new tab)
- Software license
- MIT (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
This repository has no photo of the robot yet.
3D preview converted from github.com/XRobots/openDogV3 at 537aa0d, under MIT. View the original files from GitHub (1.9 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Stands and walks on four legs, with a walking mode driven by inverse kinematics.
- Can be set to closed loop motor control and moved into preset leg poses via an LCD menu.
- Has an inverse kinematics demo mode for six axes of translation and rotation.
- A remote with a reverse switch makes the dog walk backwards, and a motor enable switch must be on for it to run.
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The guide appears here as you scroll.
Guide by @XRobots (README.md), under MIT.
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- ODrive motor controllers drive the leg motors.
- AS5047 encoders read joint position in absolute mode.
- An LCD on the dog provides the menu.
- A remote control handles the walking commands.
Connections
- Each AS5047 encoder is configured in the ODrive tool for its joint.
- The remote's motor enable switch must be on for the dog to operate.