🤖 Spot-Redux

About

A Quadruped robot based on the Kangal model and equipped with an ESP32 to control everything. Project during the minor in Robotics at the University of Applied Science of Leiden (Netherlands). Note: this project is still in a development phase, which means that some things may not be finished yet.

Glossary

• Tibia: The lower part of the leg.
• Femur: The upper part of the leg.
• Coxa: The shoulder part.

Hardware

Below is a list of parts, which is divided into essential and optional parts depending on how you want to build your version of the robot.

Essential parts

part name	description	unit
ESP32 LOLIN32	cpu	1
PCA9658 module	servo motor controller	1
SPT5430HV-180W 8.4V	HV servo motor	12
DC-DC buck converter	7V-28V to 5V 3A	1
1S3P 18650 battery	lithium ion battery	2
Round Rocker Switch	Switch with LED	1

Optional parts

part name	description	unit
HX-2S-JH20	lithium ion 2S charger	1
WS2812 RGB LED	RGB LED for eyes	2
PDC004-PD 9V	usb-c PD decoy module	1
STPS2045C	power shottky rectifier	1
battery indicator	Lithium Battery Capacity Indicator	1

Demo

During our project we made a lot more video, you can find them in the playlist.

Simulation

Bluetooth joystick control

By default, the robot connects to a few types of controllers that communicate over bluetooth, these are:

• Parrot FlyPad (Hard to get)
• GameSirT1D
• Bluetooth LE joystick supported

What each button on your controller represents:

key	control	key	control
A	walk / stop	L2 + L1	step speed interval -
B	gait change	L2 + R1	step speed interval +
X	balance mode	L2 + X	step height -
Y	flash ledstrip	L2 + Y	step height +
THUMB - L	save settings	L2 + A	step dist -
THUMB - R	load settings	L2 + B	step dist +
DPAD - L	toe offset -	R2 + L1	toe offset -
DPAD - R	toe offset +	R2 + R1	toe offset +

Credits

• IK model 12-DOF Quadrupedal Robot: InverseKinematics by Adham Elarabawy
• Kangal cad files by Baris ALP
• ESP32 QuadRuped code from PingguSoft.