I made all the code, written on python, for now implements a walking loop inside a kinematic model, so you can command a pose on the body, as well as feet position and also velocity and directinal commands for the walking loop. Controlled by a ps3 controller via bluetooth.
Arduino is used for speed up the reading and writing of signals, so in the future i can add other sensor, as well as position feedback... This communication is made via bidirectional Serial Commands, so servo pulses are sent to the arduino and angles on IMU are recived on the Raspberry Pi.
As soon as you see the project, you will notice i'm not using Raspberry Pi, thats becouse as i don't have batteries for now (This will be finished in the following updates), its more comfortable for me to work on the PC, but on Raspberry Pi it would work the same.
I'm using PyBullet physics engine, it is simple to use and seems to have a good performance as well as very precise results.
12 × Servo DS3218 PRO version20 kg/cm torque and 0.1 s/60º
1 × MPU6050 IMUaccelerometer + gyrocope
1 × Arduino Mega
1 × Raspberry Pi 4
20 × 8x3x4 mm bearings(autter x inner x width)