pinggusoft / esp32_quadruped

quadrupedal robot using esp32

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+

---

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

esp32_quadruped's Issues

question only

Hello! Thank you for providing the code and wiring diagram! But I have three small questions now: 1. Is the esp32 wiring method in the drawings published by github different from the physical pictures in the videos posted on your youtube? 2. I also saw the mpu accelerometer in the youtube video, and there is no 3. The hardware codes in the drawing are U1, U3 and U4. Why is there no U2? The above are my questions. I don't know programming and wiring; please forgive my ignorance! Thank you

Legs going to random positions

Hello my name is Klaas Schoute and for my minor project in robotics we are creating the kangal quadruped model. We are already at an advanced stage with building, but we are running into a problem that we cannot immediately explain.

Setup

We put the robot on a stand (so it's free in movements) and the ESP32 is directly connected to our laptop, so that we can give serial commands via platformio.

https://youtu.be/XGtyV45Oeas

The Problem

When we flash the firmware on the ESP32 and press the space bar directly, the legs are moving to random positions causing it to get stuck. The big question is why this happened? As far as our knowledge goes, this seems to be mainly a software problem. The PCA9658 could send random position to the servo when there is an energy peak, but I don't think this is an issue in this case.

Workaround

How we've been able to work around this problem so far:

• Flash the ESP32
• Check if the walking mode is off
• Move the robot to a forward position of 1521
• Press the space bar

When we run it in this order the robot will neatly raise or lower all its legs (switch between normal or transport modes).

Logs

--- More details at https://bit.ly/pio-monitor-filters
--- Miniterm on COM3  115200,8,N,1 ---
--- Quit: Ctrl+C | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H ---
-----------------------
�setup start !!! : heap:245884, psram:0
MPU6050 connection failed
[STEP] x: 30.000, y: 30.000, z: 20.000
setStepsPerSec: 7.00
tipOffsetX:-20.00
user data LOADED !!!
[target] x:  0.000, y:  0.000, z:-45.000
[dir_inc] x:  0.000, y:  0.000, z: -0.045
setup finished !!!
RC: 1500  1500  1500  1500
RC: 1500  1500  1500  1521
Walking: on (1)
Walking: off (0)
[target] x:  0.000, y:  0.000, z:  0.000
[dir_inc] x:  0.000, y:  0.000, z:  0.045
Stand: normal (1)