seanboe / quadrupedproject

Repository for the cad/code for my quadruped project

Quadruped Project

A quest to make a simple and affordable, yet advanced, quadruped robot.

Software Setup

This project is compiled and uploaded to a teensy 4.1 via PlatformIO, an extension to VS code. Once you download Code/Teensy41Main, you should be able to open the folder by selecting platformio.ini. Assuming you have all dependent libraries installed, you should be able to run the code!

Library dependencies

To run this code, you'll need to install a few libraries for Arduino/Teensy.

• QuadrupedKinematics
  • Servo
  • RAMP
• Radiohead

Note that QuadrupedKinematics is a custom library; you will need to download it and place in the lib in your platformIO project folder (which you can download above)

Hardware

You can find the CAD files in .step format here -will update very soon

A bill of materials (BOM) can be found here as a .numbers file or here as a google spreadsheet.

This doesn't include components for the PCB yet (I'm designing a new one)

I've also designed a PCB for this robot:

Gerber files for version 1.0 can be found here.

I'm also recording most of the progress for the project on my blog, which is here, and I release short updates on my YouTube Channel

License

MIT

Other

Please note that most of the development for this project is done in the QuadrupedKinematics repository. This is where most of the control processes and math is stored.

quadrupedproject's Issues

Better Documentation

Better documentation is coming. I'm organizing a BOM for the robot and PCBs, and a shared fusion360 project link will be live shortly.