EK0gAQ

【Training Camp】Husky among robot dogs

Overview

Product Description

Introduction: Open source Hongmeng robot dog.

Product introduction: Based on the Hongmeng system, the main control chip used is Hi3861, and the servo driver uses pca9685. It supports up to 16-channel servo drivers and supports GPIO, PWM, ADC, etc.

Realization functions: stand still, sit down, lie down, move forward, backward, turn left and right, etc.

Function expansion: The maximum number of supported servos is 16. The current robot dog has 8 degrees of freedom. In the future, three degrees of freedom for each leg can be considered. It can realize functions such as twisting the waist, enhance flexibility and playability, and can also add 2 degrees of freedom. The dog head (PTZ), coupled with the camera and machine vision, makes the dog smarter.

Product expansion: It can make many joint robots, and 16 degrees of freedom is enough to support most robots, such as robotic arms, hexapods, manipulators, etc.

Materials used: 3D printed body structure, PCB Jialichuang free proofing, mg90s steering gear x8, ultrasonic sensor, 7.4V lithium battery, some M2 self-tapping screws, some M2.5 screws and nuts.

Physical display:

mechanical design structure

Designed using solidworks2018

Analysis of dog leg movement posture

Adjust the length of each joint of the dog leg, plan the movement trajectory of the dog leg, and find the angle through the inverse solution of kinematics, so as to know the rotation angle of the servo (the inverse solution of kinematics is to find the angle by knowing the coordinates, and the correct solution of kinematics is to know Angle to find coordinates)

Specific tutorial analysis: https://www.bilibili.com/video/BV1xa411x7Ez?spm_id_from=333.999.0.0&vd_source=d08f16adf0a664dbff18e9dd1308577c

Precautions

At that time, I was thinking about making a long-legged dog, but the legs were too thin, resulting in a lack of load-bearing capacity, so it needed to be modified to increase the thickness of the dog legs, or even directly improve them into round dog legs (this also reminds me We should not blindly pursue thin and long legs, they are not strong (dog))

Design Files

All reference designs on this site are sourced from major semiconductor manufacturers or collected online for learning and research. The copyright belongs to the semiconductor manufacturer or the original author. If you believe that the reference design of this site infringes upon your relevant rights and interests, please send us a rights notice. As a neutral platform service provider, we will take measures to delete the relevant content in accordance with relevant laws after receiving the relevant notice from the rights holder. Please send relevant notifications to email: bbs_service@eeworld.com.cn.

It is your responsibility to test the circuit yourself and determine its suitability for you. EEWorld will not be liable for direct, indirect, special, incidental, consequential or punitive damages arising from any cause or anything connected to any reference design used.

Hot

Technical Resources More

Search Datasheet?

Supported by EEWorld Datasheet

Technical Videos More

Forum More

Update:2025-05-24 18:57:40

How to cancel the account registered with ADI
Because I didn't know that ADI needed a school or company email address to apply for samples, I was firmly rejected when I applied for samples. Now I used the same personal information to register an
How to configure the parameters of the logic analyzer in Keil?
[size=5]If I want to see the output waveform of [color=#ff0000]PC9[/color], what are the two parameters [color=#ff00ff]And Mask[/color] and [color=#ff00ff]Shift Right[/color]? Thank you, [/size]
Open1081——WiFi Principle Summary
Wi-Fi stands for Wireless Fidelity, also known as the 802.11b standard. It is a short-range wireless transmission technology that can support radio signals for Internet access within a range of hundre
FPGA and DSP communication research and code
[align=left][color=#000000]1. First, make a memory in FPGA. [/color][/align][align=left][color=#000000]2. Write a DSP program to access the memory inside FPGA through the EMIF interface, and perform r
I want a 51 MCU C program that converts unicode to GBK encoding, preferably based on a font chip
As the title says, I want to decode unicode and display it with dot matrix LED. I wonder if anyone has done this before? Please share the source code. Thank you very much:titter::titter:
FSK digital generation and recognition
How to generate and identify FSK signal with pure software method Sampling frequency 8000Hz, FSK transmission baud rate 1200baud, 0-2200Hz 1-1200Hz

Datasheet More

Circuits More