K3lso Quadruped

Yep we hit #5Khz for each motor reading data from 12 servos over 12 FD-can channels!

Plug for Carbon fiber top cover in the progress! 

A big milestone for me! I started this project about 7 months ago and today is the first time #k3lso stands on his own feets!

The consumption is 1A @36v for stand.

More to come later on!

the specs:
Acuator peak torque: 54Nm
Robot target weight: 18kg (at the moment 16.9kg without cover, battery included)
Onboard computer: UP Xtreme i7C1-8565U running Ubuntu 18.04
Modifed kernel: 5.4.65 with PREEMPT_RT patch and full control for GPIO header.
CAN (12-Channels): PCAN-M.2 4 Channels,  2 x  PCAN-miniPCIe FD 4 Channels.

Battery: 10S3P 9000mAh (1.5KG)
Body structure: 7075 aluminium
Legs: Milled Carbon Fiber
Knee transmission: Chain with mechanical advantage of 1.4.
Voltage: 10S

If you like to see more progress on my build you can follow me on Twitter: R_frojd

#quad #quadruped #robotics #UPXtreme #Realsense #ROS #spot #mit #cheetah #bostondynamics #mjbots #GTC21 #Nvidia #GTC #NVIDIAGTC #NVIDIA #GTCwithMe #leggedrobotics

Impact bars ready!

#k3lso #quad #quadruped #robotics #ros #MIT #Cheetah #cnc #milling #prototype #Robots #Engineering

First time we hit #5kHz in performance mode on the #UPXtreme tested on 1 motor/ 1 channel!

#quadruped #robotics #k3lso #ros #canbus #mjbots #quad

Testing the Hyper HV BEC (GSR-6005MD) which will supply power for the #UPXtreme. Getting a bit warm, need to test it out a bit more

#k3lso #quad #quadruped #robotics #ros #mjbots

UP Vision Plus X with PCAN-miniPCIe FD. Adapter cables for #JST PH3 ready!
#k3lso #quad #quadruped #robotics #UPXtreme #Ubuntu #ROS #PCAN #intel #realsense #canbus #peak #mit #UPVision

Just tried out the black rubber motor protection. I like it more then the cool grey 10C, looks sleeker


also printed a temporary adapter plate for the new #mjbots power dist r4.3b

#k3lso #quad #quadruped #robotics #MIT #cheetah #Robots #Engineering @MIT
#ros #ros2 #laikago

A big milestone for me! I started this project about 7 months ago and today is the first time #k3lso stands on his own 4 feets!
This project has included many late nights and literally all my own free time (and will continue to do so) :-)
The consumption is 1A @36v for stand.

More to come later on!

the specs:
Acuator peak torque: 54Nm
Robot target weight: 18kg (at the moment 16.9kg without cover, battery included)
Onboard computer: UP Xtreme i7C1-8565U running Ubuntu 18.04
Modifed kernel: 5.4.65 with PREEMPT_RT patch and full control for GPIO header.
CAN: PCAN-M.2 4 Channels
Loop frequency / motor : 1KHz
Battery: 10S3P 9000mAh (1.5KG)
Body structure: 7075 aluminium
Legs: Milled Carbon Fiber
Knee transmission: Chain with mechanical advantage of 1.4.
Voltage: 10S

If you like to see more progress on my build you can follow me on Twitter: R_frojd

 
#quad #quadruped #robotics #UPXtreme #Realsense #ROS #spot #mit #cheetah #bostondynamics #mjbots #GTC21 #Nvidia #GTC #NVIDIAGTC #NVIDIA #GTCwithMe #leggedrobotics

Battery assembly test. Happy with the results. Everything fitted as planned!

#k3lso #quadruped #quad #robotics #ros #mit #cheetah #GTC21


#mjbots #tmotor #UPXtreme