3 years ago

Robot Dog, Part 14.
In the first seven videos we built a robot dog based on the Boston Dynamics Spot, only smaller.
In part 8, we installed the Bullseye Raspbian OS into the MicroSD card along with Java 11, MRL and WiringPi
Part 9 we downloaded and installed the SpotMicro_MRL program and we started looking at how the program worked.
In Part 10, we looked at the Servo Services and start the servo calibration process.
In Parts 11 and 12, we started looking at the Kinematic programs, more specifically Forward and Inverse Kinematics.
In the last video, we added reinforcement of the Top Arm joints.

In this video we look at the start of combining the kinematics with coordinated movevment controls.
This involves working out where to move the servos and the speed to rotate them so they all arrive at the same time.

You can find the github repository for the SpotMicro_MRL program here:
https://github.com/Cyber-One/SpotMicro_MRL
The repository not only has the program, but also a list of the parts used.

As part of repository, you will also find the documentation I have been building as part of this robot build.
There is also a message posted in the discord whenever I update the program.

Any updates I make to the MRL_SpotMicro program will be included as part of the repository.

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