Venom
Venom is a 12-DOF all-terrain autonomous quadruped robot driven by 12 servos, with creep and trot gaits and IMU-stabilized walking on uneven terrain.
- Quadruped
- Open source
Suggested by Robotheca, created by @chinmaynehate (opens in a new tab), from github.com/chinmaynehate/Venom (opens in a new tab). Pinned to commit 5244581 (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
This repository has no photo of the robot yet.
- Degrees of freedom
- 12
What it can do
Written by Robotheca from the project's documents.
- Walks as a 12-DOF sprawling-type quadruped using creep and trot gaits, reported as implemented and tested.
- Supports four gait modes: CREEP, TROT, TROT_BACK and CREEP_DYN, selected through a walk(Mode) call.
- CREEP_DYN mode uses IMU feedback to stabilize the body on uneven terrain.
- Can be teleoperated manually through a Linux joystick input handler.
- Uses inverse kinematics to convert a target foot position into joint angles for each leg.
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The guide appears here as you scroll.
Guide by @chinmaynehate (README.md), under MIT.
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Onboard ARM processor; the README names a Jetson Nano and says a Raspberry Pi also works.
- 12 servo actuators, either Dynamixel AX-12A or standard PWM servos with torque above 20 kg·cm.
- PCA9685 16-channel PWM servo driver for PWM servos, or CM-530 servo controller for Dynamixel servos.
- IMU for orientation sensing, and a GPS interface module in the code.
- GPIO bump-switch or digital I/O pins used for dynamic leg placement.
Connections
- PWM servos are driven through the PCA9685 board via the adafruit_servokit stack.
- Dynamixel servos are driven through the CM-530 Robotis servo controller.
- The README does not describe the specific pin assignments or power wiring.