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

format_version: "0.1"
name: Quadruped Bai Servo v1
summary: A low-cost 12-DOF quadruped robot actuated by hobby servos, with optional feet sensors and a trot gait firmware.
category: quadruped
difficulty: intermediate
license:
  hardware: BSD-3-Clause
  software: BSD-3-Clause
source:
  repository: https://github.com/psrobotics/quadruped_bai_servo
  ref: 60c67f256e8d5fcfbbe39e168c901ea47757eb8b
tools:
  - 3D printer
  - soldering iron
  - screwdriver
files:
  parts_3d: hardware/stl/
  cad: hardware/step/
  electronics: eletronic/
  bom: README.md
  images:
    - pic/quad_servo.jpg
software:
  framework: arduino
specs:
  dof: 12
build_steps:
  - title: Print all leg, holder and body parts (infill 70%)
  - title: Insert bearings into the 5mm rotation joint holes
  - title: Assemble two legs, then two mirrored legs
  - title: Link all legs to the body frame
  - title: Optionally assemble the micro-switch feet sensors
  - title: Add high-friction coating to the feet tips
  - title: Pre-calibrate servos with an initial PWM signal before installing
  - title: Assemble the controller board, IMU and DC-DC converter module
  - title: Mount the battery shelf under the robot frame
  - title: Upload firmware via ICSP and tune servo calibration