ESP32 QuadRuped

An open-source 3D-printed quadrupedal robots with ESP32. (SpotMicro and Kangal)

• Gait pattern generator using Processing
• QuadRuped simulation using Processing
• Balancing using IMU
• FlyPad, GameSirT1D and Bluetooth LE joystick supported

1.Schematic

• 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
  WS2812 RGB LED	RGB LED for eyes	2
  Round Rocker Switch	Switch with LED	1

• Optional parts

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

2.Hardware Configuration

• Kangal

  

  click to youtube video

• SpotMicro

  

  click to youtube video
  
  

3.Simulation

• pose and walking simulation with processing.

  

  moving keys

  key	camera	key	quadruped control
  1	Top View	j / l	roll- / roll+
  2	Right View	k / i	pitch- / roll+
  3	Left View	u / o	yaw- / yaw+
  4	Front View	p	reset
  up	camera up	q / e	z- / z+
  down	camera down	w / s	y- / y+
  left	camera left	a / d	x- / x+
  right	camera right	w / s	y- / y+
  home	camera z up	- / =	step- / step+
  down	camera z down	space	walk / stop

• gait pattern generation with processing

  

4.robot control with BLE(bluetooth le) joystick

key	control	key	control
A	walk / stop	L2+L1	step interval-
B	gait change	L2+R1	step 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+

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Reference

• IK model
  12-DOF Quadrupedal Robot: InverseKinematics by Adham Elarabawy
• Kangal cad files
  Diy quadruped robot by Baris ALP
• SpotMicro cad files
  User Fran Ferri models