Quadruped Robot 12dof v1.1 - Autonomy Upgrade - Weight: 2,8kg
- this page describes the autonomy upgrade for the Quadruped 12dof v1 Robot
- onboard batteries and wireless communication will enable the robot to operate without power and ethernet wires
- using the onboard imu for state estimation will enable the robot to operate outside of the motion capture area
- the robot will carry two lithium polymer batteries - one battery pack in the front and one battery pack in the back of the robot
- the custom power management board will enable safe operation of the batteries, e-stop handling and real-time current and battery voltage measurements
- there is a status led ring with 12 RGB leds on the top of the robot
- there are two payload interfaces with mounting holes to attach additional components to the top or the bottom of the robot
- the estimated weight increase for this upgrade is about 300g
- the components that were upgraded are marked red in the screenshot below
Quadruped 12dof v1.1 Overview - the updated components are marked in red.
Quadruped Robot 12dof v1.1 - Top View
Quadruped Robot 12dof v1.1 - Front View
Sitting - dimensions: 46cm x 31cm x 6cm
Folded - dimensions: 46cm x 22cm x 9cm
Electronic Components Overview - weight: 463g
Power Management Board - weight: 16g
- this custom Power Management Board is being developed by Thomas Flayols
- Documentation: Power Board GitHub Page
- monitors battery voltage and current
- reads on/off switch and e-stop
- cuts battery power if the e-stop is activated
- inrush current limitation
- SPI interface for communication with the Master Board
- 8 x XT30 output connectors
- dimensions: 65mm x 35mm
- mounting holes: ø 2,1mm / spacing 61mm x 31mm
- weight: 16g
Lithium Polymer Batteries - weight: 68g each
- SLS X-Cube 850mAh lithium polymer batteries
- 3S1P / 11,1V / 30C continous / 60C burst
- weight: 68g
- dimensions: 60mm x 30mm x 21mm
- power connector: XT 30
- balancer connector: XH
- don't use the lipo batteries without a power management board!
- Ordering information below
Push Button Switches - weight: 3,5g each
- E-Stop Switch: red button - normally closed - momentarily open while pushed
- On-Off Switch: green button - normally open - momentarily closed while pushed
- ø13,6mm / weight: 3,5g
- Ordering information below
Status Led Ring - weight: 3,3g
- Status Led Ring with 12 Neopixel RGB leds
- dimensions: OD: 36,9mm / ID: 23,3mm
- weight: 3,3g
- Ordering information below
- All the STL files for 3d printing the parts below can be found here: STL Files.
The recommended printing direction for all the parts below is the positive z direction of the stl files.
- Body Structure Center Payload - STL file
- this part can be used on the top and the bottom side of the robot
- weight: 31g
- Body Structure Front Batterie Lid - STL file
- weight: 11g
- Body Structure Front Batterie - STL file
- weight: 18g
- Body Structure Top IMU Leds - STL file
- weight: 15g
- Body Structure Top Master Power Board - STL file
- weight: 15g
- Mount Switches - STL file
- weight: 4g
- Neo Pixel Cover - STL file
- weight: 0,3g
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Power Management Board | 1 | Power Board GitHub Page | Custom Electronics |
| LiPo Battery SLS X-Cube 850mAh | 2 | SLS Product Page SLSCUX08503130 |
Charging and Safey Accessories |
| E-Stop Switch | 1 | RS 820-7587 | Red Push Button Switch |
| On-Off Switch | 1 | RS 820-7593 | Green Push Button Switch |
| Status Led Ring | 1 | Adafruit 1643 Mouser 485-1643 Conrad 1516560 |
NeoPixel Ring RGB LED 12 x WS2812 |
| Body Structure Center Payload | 2 | STL File | 3d printed part |
| Body Structure Front Batterie Lid | 2 | STL File | 3d printed part |
| Body Structure Front Batterie | 2 | STL File | 3d printed part |
| Body Structure Top IMU Leds | 1 | STL File | 3d printed part |
| Body Structure Top Master Power Board | 1 | STL File | 3d printed part |
| Mount Switches | 1 | STL File | 3d printed part |
| Neo Pixel Cover | 1 | STL File | 3d printed part |
| Fastener M2 x 6 SHCS | 8 | Power Board and Master Board | |
| Fastener M2,5 x 6 SHCS | 1 | Switch Mount Back | |
| Fastener M2,5 x 8 SHCS | 1 | Switch Mount Front | |
| Fastener M3 x 6 SHCS | 4 | Batterie Lid | |
| Helicoil M2,5 x 3,75mm | 10 | ||
| Helicoil M3 x 4,5mm | 20 |
Power Board, Master Board and Switches on Mounting plate - weight: 67g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Power Wire | 1 | 8cm | XT30 to 2pin Hirose |
| SPI Wire | 1 | 5cm | SPI Wiring Documentation |
| Switch Wire | 1 | Pin assignment below. |
Wiring On/Off and E-Stop Switch
Front Micro Driver Stack - fully wired - weight: 112g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Motor Phase Wires | 18 | 8cm | Micro Driver Board Wiring Documentation |
| Power Supply Wires | 3 | 30cm | Micro Driver Board Wiring Documentation |
| SPI Wires | 3 | 34cm | SPI Wiring Documentation |
Hind Motor Driver Stack - fully wired - weight: 98g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Motor Phase Wires | 18 | 8cm | Micro Driver Board Wiring Documentation |
| Power Supply Wires | 3 | 16cm | Micro Driver Board Wiring Documentation |
| SPI Wires | 3 | 18cm | SPI Wiring Documentation |
Inertia Measurement Unit - weight: 18g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Interface Wire | 1 | 40cm | IMU Wiring Documentation |
Neo Pixel Led Ring with Mounting Plate - weight: 22g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Interface Wire | 1 | 34cm | Pin assignment below. |
Neo Pixel Interface Wire
Battery Wire - weight: 12g
Battery wire - the batteries are connected in series.
Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University