Petoi's popular open source quadruped robotic pet framework OpenCat has been upgraded to 2.0 with major updates to the Arduino codes.

We redesigned the code structure to make the workflow easier to understand and modify:

Improved the smoothness of motion and the speed of balance adaption.
Fixed many bugs in the original workflow. For example, the robot no longer skips commands randomly.
Combine WriteInstinct.ino and OpenCat.ino into a single OpenCat.ino. Use the #define MAIN_SKETCH macro to switch between the two modes.

Python API Updates and Demos
We have more detailed documentation of the OpenCat Python API and demos to help users connect the robot with another program, such as voice, vision, gaits trained by deep learning, and ROS. It also allows the robot to perform an infinite length of tasks defined by a preset scheduler.