【Training Camp】HooDog

Project Introduction This project comes from Lichuang EDA’s “Bionic Robot Dog Design Training Camp” project, which involves the design and production of a four-legged mechanical dog driven by a steering gear. For the hardware part, Huawei Hi3861 is used as the main control, and PCA9685 is used to generate 16 PWM channels to control 8 servos. For the four legs as the actuator, a five-link mechanism is used. The training video in the training camp has a detailed derivation process of forward and inverse solutions, and also gives a solution procedure. I did not do in-depth research on the dog's gait. I also directly used the gait generation program to directly generate JSON instructions and executed them on pycharm to achieve progress. Reference materials Chuanzhi Hongmeng Yuanqi Pai Guide: Hongmeng’s development direction - Chuanzhi Hongmeng Yuanqi Pai (czxy.com) Dog Leg Kinematics Solving Tool: Dog Leg Morphology Simulator) Lichuang EDA Training Video: Bionic Robot Dog Training Camp_ Bilibili_