K3lso Quadruped

Getting somewhere on the loop frequency! We Started of at around 650hz. This is 1 motor over 1/4 available channels.

Futher more I got a bit crazy and ordered two additional 4-Channels FD baords. So I can run each motor on a individual channel. So in total the robot will have 12-Channel CAN-PCI(FD) . Which would increase the individual frequency for each motor. 

Patched the #UPboard #UPXtreme stock kernel 5.4 with RT-PREEMPT. @UPbridge_gap 🙃 also the pin control is confirmed working! 

You can find my build steps here:

https://github.com/raess1/UPxtreme-RT-kernel/blob/main/README.md

#k3lso #quad #quadruped #robotics #Ubuntu #ros #RT #PREEMPT https://t.co/eiMUz7scP6

Yep I think I have something that I could live with.. 

What do you guys think?

Quick and dirty half test cover for shape verification!

I am adding a impact bar.

The new idea with back/front cover is to design around the impact bar. The back cover has an internal plastic structure and a outer molded CF cover. not a fan of the sharp intersection between top/bottom cover.

A very quick draft of half the back cover. Design purposes only.

#k3lso #quadruped #quad #3Dprinting #raise3d #robotics #bldc #ros 

A very rough first print for half top cover. Needed something to touch and visualize IRL before going further with covers. And No I will not use home 3D printed covers. 

#k3lso #quadruped #quad #ros #robotics #UPXtreme #ROS #unitree #bostondynamics #laikago #mjbots https://t.co/rIo9h7ytxO

Test assembly of CF leg with new lower design/foot. Everything fits perfectly! Happy with the more rough looks! 

Weight data comparison:

Upper: 

CF = 219g

7075 = 315g

reduction 43%

Lower:

CF = 185g

7075 = 254g

reduction 37%

Motor mount:

CF = 99g

7075 = 145g

reduction 46%

#k3lso #quad #quadruped #UPXtreme #cnc #robotics #ros #design #fusion360 #carbon #leggedrobotics @UPbridge_gap

New parts. One full set of CF legs for the robot and also a set of the new lower leg design in 7075.

The foot mold fitted perfectly! The CF legs are about 38% lighter then 7075. 

Switch multi-camera streaming running #Ubuntu #ros and #UPXtreme and #realsense #d435 running #champ