The quadruped robot Solo performs a 26cm jump. (Picture by W. Scheible)
- 8dof - 8 degree of freedom robot
- Power and communication over wire (24V / 4 x CAN)
- Weight 2.2kg
- Vicon markers on base
The robot consists of:
- 8 x identical actuator module - details here -> Actuator module
- 4 x identical lower leg with foot contact switch - details here -> Foot Contact Switch
- 4 x Texas Instruments dual motor driver electronics - details here -> TI Electronics
Shell preparation - Threads and threaded inserts
Shell fasteners - SHCS = Socket Head Cap Screw
- Cable gland for strain relief of the umbilical cable
- Lapp Skintop M16 x 1,5 - Lapp Product Number 53111210 - RS 365-8450
Important:
The cable gland thread is M16 x 1,5mm - the standard metric thread is M16 x 2mm.
Make sure to use a M16 x 1,5mm fine pitch thread cutter to prepare the thread in the 3d printed shell.
Reflective Markers for motion capture system
- 10 x 9.5mm Vicon Markers on the base
- M4 x 10 set screws for a attachment
Quadruped Overview - Click on picture to view PDF drawing
Vicon Marker Placement - Click on picture to view PDF drawing
- You can download the Vicon Object here: Quadruped Vicon Object
The simplified stl files for visualization and simulation can be found here: STL Files Visualization.
The inertial values are being used in this repository: Robot Properties Solo
Quadruped Inertia Parameters - Click on picture to view PDF drawing
In the picture you can see the light from the foot sensor leds and the microcontroller status leds
- perform a jump onto a 24cm box
- wireless communication
- onboard batteries
- onboard IMU
- 12 degrees of freedom - add Hip AA degree of freedom
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019, Max Planck Gesellschaft, New York University
Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Hardware Overview
Software Overview