Project files

Spot Micro Quadruped Robot Chinese Guide

Video source (it's okay if you can't open it, it's not very important): https://www.youtube.com/watch?v=S-uzWG9Z-5E (opens in a new tab)

Acknowledgements/Credit to:

All of our code comes from Mike's open-source repository: https://github.com/mike4192/spotMicro (opens in a new tab)

Our models are based on the Spot Micro AI community: https://gitlab.com/custom_robots/spotmicroai (opens in a new tab)

The main work of this Chinese guide is to translate the content of the English open-source community into Chinese and organize it to be more readable.

Our contribution is more about translating those great open-sourced technical knowledge into Chinese with a more beginner-friendly mind map.

A Quick Primer on Robots

At its core, a robot is simply a computer that uses software to control hardware and make it move. Connecting a computer to various pieces of hardware isn’t hard; the real challenge usually lies in the underlying physics, circuit design, and the mathematical strategies for directing how the hardware should move. I won’t go into those details here. For now, all you need to know is that the steps we’re about to take won’t involve any of that.

What we’re going to do is straightforward: connect pre-designed hardware using wires or wireless signals, then send simple commands from a computer to make the hardware “understand” and follow those instructions. You might think it’s magical that a computer can make hardware move (I certainly do), but the pioneers who first built computers actually started by using them to control hardware. It took them a long time to eventually create the advanced machines we’re familiar with today. Ironically, we can now use computers at the software level without needing to understand their inner workings! To be honest, the old-timers might find this approach truly astonishing. (This touches on some fundamental ideas about computers—I won’t expand on it here, but if you’re interested, feel free to reach out and I can organize a mini-class on the topic.)

So, take a deep breath—this is going to be a piece of cake.

Here’s the rough outline of what we’ll do:

1. Purchase the hardware.
2. Try getting your computer to “talk” to the robot’s computer.
3. Use the robot’s computer to control the hardware.
4. Assemble the hardware.
5. Make the robot move!

Let’s get started!

Hardware Preparation

The hardware includes 3D printing files and other items that can be purchased directly. You will need to contact a 3D printing service provider and send them the corresponding files for printing.

The complete bill of materials (BOM) for the hardware is located in the "Hardware" folder, which contains detailed information. Unless you are very familiar with the components, it is recommended that you use the exact same hardware as I do. Different hardware may have variations in compatibility and assembly methods, so sticking to the same specifications is the safest approach to avoid unnecessary issues.

Getting Started with the Software

The software consists of three main parts: testing, calibration, and operation.

All the code is located in the "Software" folder, which includes detailed instructions. I also recommend using the same system and software as I do, as different software may interact differently, and different systems may have built-in software that causes the same commands to have different effects. To avoid unnecessary discrepancies, staying consistent with my setup is the safest choice.

About the Author of the Chinese Guide

Hi there, friend! I'm Li Bi'ang (Beyond). I graduated from the School of Business at City University of Hong Kong with a major in Economics and a minor in Computer Science. I am currently pursuing an MPhil degree at the Faculty of Engineering, Chinese University of Hong Kong, researching lower-limb exoskeletons.

I only recently switched from business to robotics. As a latecomer to engineering, if you (or your child) are also a beginner learning engineering, I can fully understand the anxiety and frustration you feel when faced with the overwhelming amount of engineering knowledge. However, I also understand that the basic building blocks of engineering are always simple; its complexity lies in the accumulation of countless tiny parts, often leading to a mountain of difficulties right at the start. That's why, every time I look back at the open-source community of the Spot Micro quadruped robot, I feel deeply grateful. Thanks to them, I, as a newcomer, had a ladder to climb into this field—complex enough to cover the fundamental ideas of robotics, yet simple enough to avoid getting bogged down in too many trivial details. A salute to open source.

As someone who transitioned from a business school background, perhaps I can contribute some expressive skills from a business student and more mature insights from a latecomer to the field.

Additionally, if you'd like to make a friend or need more personalized assistance (such as material procurement, remote teaching, or face-to-face teaching...), feel free to reach out to me. Just add me on WeChat!

WeChat ID: fading_fire_

(Please include a note: Chinese name - institution - field, e.g., Li Bi'ang - CUHK - Robotics)

Email: bianglibeyond@link.cuhk.edu.hk (opens in a new tab)

Additional Links

This section is left untranslated because if you can't understand it now, you don't need to go any further—what comes next is the realm of advanced players.

Spot Micro AI community: https://gitlab.com/custom_robots/spotmicroai (opens in a new tab)

Research paper used for inverse kinematics: Sen, Muhammed Arif & Bakircioglu, Veli & Kalyoncu, Mete. (2017). Inverse Kinematic Analysis Of A Quadruped Robot. International Journal of Scientific & Technology Research. 6.

Stanford robotics for inspiration for gait code: https://github.com/stanfordroboticsclub/StanfordQuadruped (opens in a new tab)