四足机器人制作 - 用到3D打印、树莓派4、Arduino Mega以及MPU6050

电子森林 2020-05-24

Hackaday上一个四足机器人的项目分享给大家,作者对该项目的描述:

“我做这个机器人的目的是让我自己了解控制理论、研究其数学并练习程序设计,因此,通过该项目就是实施某种模型预测控制以使其步行稳定“。

下面是该项目的一些图片:

作者对这个项目的描述:

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.


用到的器件:

  • 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)


用到的运动模型


关于该项目的详细介绍,可以点击左下角的“阅读原文”。

关于该项目的代码,参见Github上的链接:https://github.com/miguelasd688/4-legged-robot-model


周末愉快!

电子森林 讲述电子工程师需要掌握的重要技能: PCB设计、FPGA应用、模拟信号链路、电源管理等等;不断刷新的行业新技术 - 树莓派、ESP32、Arduino等开源系统;随时代演进的热点应用 - 物联网、无人驾驶、人工智能....
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