This highly flexible quadruped robot dog features a 2.3kg.cm high-torque motor with a reliable structure and agile movement. It integrates a camera, a 9-axis motion tracker, and RGB components. The system is open-source and supports web applications across platforms. An ESP32 microcontroller handles inverse kinematics and real-time control, while a Raspberry Pi can be used as an upper-tier controller for advanced decision-making. This design allows for efficient computational distribution between the two systems.
Features
- 12 Degrees of Freedom: Multi-link leg design enhances the robot's efficiency and agility.
- Real-Time Operating System: The lower-tier system handles inverse kinematics and movement generation, optimizing the upper-tier processor's efficiency.
- Compact Design: Lightweight yet durable, built with aluminum alloy and nylon material, ensuring strength while reducing weight, suitable for tabletop use.
- Raspberry Pi Compatibility: Supports advanced OpenCV functions like facial recognition, motion detection, and color tracking. Pre-configured for secondary development with extensive documentation and development interfaces.
Parameters
- Product Name: WAVEGO High-Flexibility Quadruped Robot Dog
- Standing Dimensions: 218mm × 116mm × 152mm
- Crouching Dimensions: 228mm × 116mm × 127mm
- Weight:
- Basic Version: 465g (with battery)
- Upgraded Pi4 Version: 554g (with battery)
- Degrees of Freedom: 12 total, 3 per leg
Operating System:
- Supported Systems: FreeRTOS + Raspbian OS
Motion Capabilities:
- Supported Actions: Handshake, Standing, Slow Kneeling, Diagonal Walking, Jumping, Self-Balancing
- Motion Expansion: Programmable examples with Bézier curve functions for speed and motion control.
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Maximum Load:
- Basic Version: 300g
- Upgraded/Raspberry Pi 4 Version: 200g
Servo Motor Specifications:
- Dimensions: 23.2 × 12.1 × 25.25 mm
- Weight: 13.0 ± 1g
- Operating Voltage: 6V
- No-load Speed: 0.1 sec/60° (100 RPM)
- Stall Torque: 2.3 kg.cm (31.99 oz.in)
- Rated Load: 0.7 kg.cm
- Rated Current: 350mA
- Control System Type: Digital Comparator
- Control Method: Pulse Width Modification
Vision Capabilities:
- FreeRTOS Example: Real-time video streaming via web
- Raspbian OS Example: Real-time video streaming, face detection, color tracking, and moving object detection
- Note: All code is open-source. Raspbian OS examples use flask-streaming and OpenCV for development.
Processor and Memory:
- Processor: Xtensa LX6 dual-core CPU @ 240MHz
- ESP32 (Lower Tier):
- SRAM: 520KB + 8MB
- Flash: 448KB + 4MB
Additional Specifications:
- Wi-Fi Standard: 802.11b/g/n
- Bluetooth Standard: Bluetooth 4.2 (Includes BR/EDR and BLE support)
- Expansion Ports: 2 × 5P multifunctional expansion ports (for communication, power, or modular assembly)
- External Interfaces:
- DC Charging Port
- Type-C (for downloads, communication, and accessory expansion)
Power Specifications:
- Battery Type: 18650 Li-ion Battery
- Power Supply Voltage: 7-8.4V
- Charging Voltage: 8.4V
- Battery Capacity: 2600mAh
- Protection: Overcharge, over-discharge, overcurrent, short circuit, reverse polarity protection, and balanced charging
- Output Voltage: 5V (for powering other control boards)