ohosdog

Introduction: Robot dog using OpenHarmony system

Product introduction: It is developed based on the OpenHarmony open source Hongmeng system. The chip used is hi3861, which supports 16-channel servo control, GPIO, ADC, PWM and other operations.

Functions such as forward, backward, left turn, right turn, lie down and other functions of the mechanical dog have been implemented. Reinforcement learning will be supported in the future. (requires expansion of mpu6050)

Application scenarios: Can control robot dogs, small spiders, servos, gimbals, robotic arms and other products, supporting up to 16 channels of servos

Chip solution: multi-channel steering gear control board based on HiSilicon Hi3861 chip and PCA9685

Product core parameters:    
Working voltage: 7.4V~20V with overheating and overcurrent protection

Hardware interface: gpio, ADC, PWM

Double-layer board design single-sided layout

The total material cost of the complete set: 165~300 yuan
pcb: Jialichuang free sample
components: about 50 yuan, pca9685 is currently out of stock in Lichuang Mall

8 servos (7.2 yuan each for a certain treasure) + PCA9685 (more than 10 yuan for a certain treasure): 70 yuan

Dog body structure: Acrylic cutting version (about 20 yuan)
                    3D monkey 3D printing version (about 100 yuan)

Others: M2.5 screws, anti-slip nuts and some self-tapping screws, about 10 yuan. 7.4V lithium battery: 15 yuan.

(The steering gear screws are all provided, 12 M2.5*10 screws, 12 M2.5 anti-slip nuts, 4 40mm double-pass posts, 8 M3*10 screws, 8 M2 .5*7 screws)

Material list and reference purchase link: https://docs.qq.com/sheet/DWGxocU1aalRJS0Z2?tab=9e4zer

All supporting courses are open sourced in the Lichuang eda training camp, including the following content:
1. Introduction to the effect of the robot dog 
2. SolidWorks robot dog structural design 
3. Robot dog gait analysis Coordinate inverse solution calculation process derivation   
4. Lichuang eda circuit control board step-by-step Hardware design (two versions, low-cost without gyroscope) 
5. Jiali first order production
6. Firmware burning and installation
7. Servo control programming
8. 3D Monkey 3D printing order   
9. Assembly and debugging
10. Introduction to other creative ideas (little spider, robotic arm, gimbal...)

Please use Hiburn.exe to burn the firmware program.

Host computer code: 

The robot dog has 4 dog legs. In fact, controlling any one of the dog legs is just a little bitch. A slight modification is the robotic arm.

The little bitch is open sourced separately here: https://oshwhub.com/itheima/ohosdog_copy

Related information Baidu network disk: https://pan.baidu.com/s/1OztwrWfjke83tJw3oP9gRQ?pwd=qu2s