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What should I do if I can't play a 530,000 Boston-powered robot dog ?
It's better to use an open source project to DIY a Raspberry Pi, which costs less than 4,000 yuan.
At such a stop, is there a feel like the Boston Power Dog?
Let’s do a warm-up exercise to show the flexible joints:
Through three-axis body posture control, such a Raspberry Pi version of the Boston Powerdog can achieve two sports modes.
One is the trotting posture . In this 4-phase gait, the two legs on the diagonal of the robot dog move at the same time, which can achieve a faster moving speed.
The other is walking posture . This 8-phase gait combined with body movement helps to maintain the balance and stability of the robot dog.
This robot dog was built by a foreign brother Michael Romanko .
Do you feel a touch of heart?
Then you might as well look down and take this open source tutorial that is accurate to every detail . It is not a dream to have your own mini Boston Power Dog. (Dog head)
The hardware cost is less than 4000 yuan
This Raspberry Pi robot dog is based on the open source ThingVerse Spot Micro framework. The shell part is made by a 3D printer with a nozzle 0.6.
The software part is implemented on a Raspberry Pi 3B computer running Ubuntu 16.04.
So first of all, you need to prepare a Raspberry Pi 3B development board worth about RMB 230 .
The components of the control part include the servo drive PCA9685 with a price of less than 30 yuan and an I2C interface.
And 12 servo motors PDI-HV5523MG, the single price is about 70+ yuan .
In addition, a 16×2 LCD with I2C interface is required.
As for the battery, a 2s 4000mAh lithium battery is used, which is directly connected to the power supply servo, and the price is about 160 yuan .
The voltage stabilizer uses the HKU5 5V/5A UBEC, which supplies power to the Raspberry Pi, LCD panel, and PCA9695 control board. The price is equivalent to RMB 45 .
The entire set, including the 3D printer, costs no more than 4,000 yuan, which is even lower than Stanford’s cheap open-source quadruped robot Pupper ($600-1,000).
△ Stanford Pupper
A tutorial accurate to every detail
Mike's assembly tutorial is relatively brief, but gives a "SpotMicroAI" community for his reference.
SpotMicroAI's tutorial can be described as "hands-on". The engineer who wrote the tutorial provided almost every step of assembling the robot dog, and even has a method of how to SSH to the Raspberry Pi, and strive to everyone to understand.
The first is to install the operating system for the Raspberry Pi . It is recommended to install PINN , which is an enhanced version of the NOOBS operating system installer.
After installation, the system comes with SSH and VNC, no need to connect a keyboard and mouse to the Raspberry Pi, it can be debugged remotely.
△ Successfully connected to Raspberry Pi via VNC
Choose to install Raspbian Lite among the many operating system options of PINN. After that, the VNC connection will be disconnected and all connected to the Raspberry Pi using SSH.
The Raspberry Pi system comes with FTP. In order to facilitate beginners to transfer files between the computer and the Raspberry Pi, it is recommended to install the FileZilla software.
Enter the IP address, username, password, port 22 of the Raspberry Pi, and click Quickconnect to connect to the file system of the Raspberry Pi. Now you can drag and drop files from SpotMicroAI as needed.
Next, enter the most critical step to install the robot dog control software. In order to simplify the installation, the author has written a script, and the installation process is automatically completed:
ssh [email protected]
curl https://gitlab.com/custom_robots/spotmicroai/basic-runtime/-/raw/master/utilities/self_install.sh | bash
Then start the communication bus I2C. Open a terminal and run the following command:
sudo raspi-config
Then make the following changes from the display options: Interfacing options → Enable I2C
Then connect all the hardware to the Raspberry Pi according to the following figure:
The 3D printing file of the robot dog shell is also attached. The author recommends using a 0.6mm nozzle and setting the layer height to 0.3mm, which can speed up the printing speed as much as possible.
After completing the hardware assembly is the software debugging part.
First download the default configuration file in JSON format: https://gitlab.com/custom_robots/spotmicroai/basic-runtime/-//blob/master/spotmicroai.default, and place the file in the user's home directory.
Open the calibration tool, calibrate the 12 servo clicks, and find the initial position of the motor when the robot dog "rests".
cd ~/spotmicroai/calibration
./calibration.sh
After calibration, the robot dog can perform various actions.
Wait, what's the use of the display on the tail of the robot dog? In fact, it can help us quickly see the current state of the robot dog.
For example, in the above panel, we can see the current temperature of the Raspberry Pi CPU, the connection status with the external controller, the status of the servo control board, and so on.
So far the mini robot dog is done. If you not only want to assemble it, but also want to learn higher-level development tutorials, then you can take a look at the content in Extra.
Next step plan
Now Mike's mini robot dog can only do some simple actions. Mike's next plan is to make it as smart as the Boston-powered robot dog. Mike's future goals are:
1. Add lidar and realize simple 2D mapping of the room through SLAM. Just like the original Boston Dynamics Robot Dog.
Now someone has achieved Mike’s first goal:
2. Develop an automatic motion module to guide the robot to perform simple tasks around the sensed 2D environment. For example, navigate the room and avoid hitting obstacles.
3. Combine the camera or web camera to create a software module for basic image classification. For example, sensing the closing and opening of the fist allows the robot to make a specific response to a certain action and realize gesture control.
Netizen: Get it up
Do it yourself DIY "Boston Power Dog", this kind of practice even the Raspberry Pi official likes it.
Netizens said one after another: Goose Girl, this is really cool.
Some people can’t wait and plan to do it themselves.
So, put it all together?
Reference link:
https://www.raspberrypi.org/blog/mini-raspberry-pi-boston-dynamics-inspired-robot/
https://github.com/mike4192/spotMicro#Overview
https://gitlab.com/custom_robots/spotmicroai
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