QuadrupedProject

<h1 align="center"> <br> <a href="https://github.com/seanboe/QuadrupedProject"><img src="images/V1-1Front.png" alt="QuadrupedProject" width="200"></a> <br> Quadruped Project <br> </h1> <p align="center"> A quest to make a simple and affordable, yet advanced, quadruped robot. <br> <br> <a href="https://github.com/seanboe/QuadrupedProject"> <img src="https://img.shields.io/badge/License-MIT-green.svg"> </a> <a href="https://github.com/seanboe/QuadrupedProject"> <img src="https://img.shields.io/badge/Maintained%3F-yes-orange.svg"> </a> <a href="https://github.com/seanboe/QuadrupedProject"> <img src="https://badges.frapsoft.com/os/v1/open-source.svg?v=103"> </a> </p>

Software Setup

This project is compiled and uploaded to a teensy 4.1 via PlatformIO, an extension to VS code. Once you download <code>Code/Teensy41Main</code>, you should be able to open the folder by selecting <code>platformio.ini</code>. Assuming you have all dependent libraries installed, you should be able to run the code!

Library dependencies

To run this code, you'll need to install a few libraries for Arduino/Teensy.

• QuadrupedKinematics
  • Servo
  • RAMP
• Radiohead

<i>Note that QuadrupedKinematics is a custom library; you will need to download it and place in the <code>lib</code> in your platformIO project folder (which you can download above)</i>

Hardware

You can find the CAD files in .step format here -will update very soon

A bill of materials (BOM) can be found here as a .numbers file or here as a google spreadsheet.

This doesn't include components for the PCB yet (I'm designing a new one)

I've also designed a PCB for this robot: <br> <a href="https://github.com/seanboe/QuadrupedProject/tree/master/Hardware"><img src="Hardware/PCBV1-0/layoutV1-0.png" height="200"></a> <br> Gerber files for version 1.0 can be found <a href="Hardware">here</a>.

I'm also recording most of the progress for the project on my blog, which is here, and I release short updates on my YouTube Channel

License

<a href="LICENSE">MIT</a>

Other

Please note that most of the development for this project is done in the QuadrupedKinematics repository. This is where most of the control processes and math is stored.