PSI1 Quadruped
An open-source, customizable quadruped robot for disaster relief and extreme environments, with 3D-printed parts and cybergear actuators.
- Quadruped
- Open source
- 3D printable
Suggested by Robotheca, created by @tokirobot (opens in a new tab), from github.com/tokirobot/PSI1_Hardware (opens in a new tab). Pinned to commit 83b5180 (opens in a new tab).
- Hardware license
- BSD-3-Clause (opens in a new tab)
- Software license
- BSD-3-Clause (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
3D preview converted from github.com/tokirobot/PSI1_Hardware at 83b5180, under BSD-3-Clause. View the original files from GitHub (17.6 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- PSI1 is an open source, fully customizable quadruped robot designed for disaster relief and extreme environments.
- Arms or wheels can be added to the robot to extend its use.
- Torque is increased across a planetary reducer in the leg actuators.
- The lower leg is driven by a linear actuator with ball screws.
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The guide appears here as you scroll.
Guide by @tokirobot (README.md), under BSD-3-Clause.
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- CyberGear is used as the actuator for the robot.
- A custom connector board is used to wire the connectors.
- An eye LED board is used to show the robot's status.
- Tri-Color LED (cannonball type) on the connector PCB.
- TC74HC595AF 8-bit shift register on the connector PCB.
- Several XH 6-pin and JST-style header connectors on the boards.
Connections
- The connector board is designed to wire the robot's connectors efficiently.
- The eye LED board is a separate board used to monitor robot status.