TOPS

TOPS (Traverser of Planar Surfaces) or SPOT backward is a 12DOF quadrupedal robot. I have attempted robot dogs in the past, but nothing has come close to having the natural gait of an actual dog. In this project, the goal is to make a more dynamic quadrupedal robot.

YouTube Video: https://youtu.be/VhUvoV5XyRg

Inspired By James Bruton's openDogV3: https://github.com/XRobots/openDogV3/tree/main

-4 Month Build

-Total Cost: $3,300

-Total Weight: 29.6lbs (13.43kg)

-Weight of 3D Printed Parts: 9.98lbs (4.53kg)

-12x Custom QDD actuators

----3D printed 9: 1 planetary gearbox

----90KV brushless motor

----ODrive S1 FOC Controller

-Carbon Fiber Frame

-30A Silicone Feet

-6S 5200mah Lipo Battery

-Teensy 4.1 Microcontroller