Edog - Mini 3D printed Quadruped Robot ✨

Please find below the wiring diagram in order to correctly use the Driver Servo - PCA9685 16' with the I2C. You also need to power up the board and raspberry with a 5v and at least 3A (They can share the same input voltage)

Simple code example to set all 8 servo to the angle 50° (note that the angle need to be: 0 < angle < 180)

from adafruit_servokit import ServoKit

kit = ServoKit(channels=16)

for i in range(0, 7):
        kit.servo[i].angle = 50

I finally uploaded stl parts online for Edog ! 

Prints are extremely simple, you don't need any support if you set the "support overhang angles" to 51°. The only trick is to print two "tibia" mirrored in order to print left and right tibia, the femur is already symmetrical and can be printed 4 times.

Download link: https://www.thingiverse.com/thing:4910279

PS: I didn't publish the shell, I'm not satified by the shape, I will uplaod it later :)

I am very excited about my third participation in the competition, I have no doubt that my robot will be the smallest of all team and maybe the only quadruped 🙃

Here is the video I made with my former team Evolutek in 2019:

My goal is obviously not making many points but challenge the edog design to see if he can adapt in different environment and have feedback from other roboticist and engineer 

As explain, edog will participate in the Eurobot cup. 

To do so, I need to know the robot position in (x, y) on the table. But I can't use embedded lidar or using triangulation due to its small size and its limited capacity to carry heavy components. 

So What I will attempt to do is using a beacon with a camera and estimate the position giving a video flux.

This beacon is composed with an NVIDIA Jetson Nano 2gb board, a TPLink Nano Router, a 7inch touchscreen and a DC converter to 5v and 5A. that allow to used 3s to 6s lipo to power up the sytem.

Here an exemple of the team ARIG Robotique (more infos here)

Step #1: original video

Step #2: Optical distortion usgin OpenCv in python

Step #3: projection in an orthonormal coordinate system

All the stl files will be drop after the French Eurobot cup, the 1st June 2021.

here you can see all the part involves, Everything has been design for an easy build and easy printed without support needed.

Only 4 * M3 screw are needed for the frame ! 🔩
It makes edog very simple to build, so everyone can build his own easely

All legs are controlled by an inverse kinematics algorithm. ROS2 will be implement soon !