super_star

Quadruped robot dog based on ESP-32~

Overview

Direct link~

Demo video: https://www.bilibili.com/video/BV1Ka411A7wU

Code cloud: https://gitee.com/forairaaaaa/ruby-robot-dog.git

Next picture~

The power source is the bus servo drive (SCS0009), which consists of 12 degrees of freedom (only 8 degrees of freedom are currently used in the source code)

It was the first time that the organization learned to play with an open structure, but the results were not ideal: the space was small, it was difficult to maintain, and it was afraid of water and dust.... Moreover, the circuit board had to accommodate the structure, making it difficult to iterate.

Modularization will be strongly promoted in the next version~~ (I’m afraid I’m afraid)

Beautiful back~

The main control adopts ESP32-S. The single-line serial port conversion circuit (drive motor) is integrated on the board, which leads to the serial port and pins for expansion (but the structure makes it a bit difficult to stretch~)

Of course, it is indispensable to convert Type-C (young people’s obsession) to TTL for programming and communication, but there is no automatic download~

In order to save space, each servo is powered by a separate 7805 voltage regulator~ Then the power supply and communication bus are aggregated to the power wiring board, and then connected to the motherboard~

Cable management is painful enough~~

Not much to write anymore, the control engineering has started to be urgently submitted (?)

It can also be considered as a reference for everyone to avoid pitfalls~~

Design Files

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Update:2025-07-03 16:26:31

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