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Quadruped Robot 12dof v1.1


Quadruped Robot 12dof v1.1 - Autonomy Upgrade - Weight: 2,8kg

Description

  • this page describes the autonomy upgrade for the Quadruped 12dof v1 Robot
  • onboard batteries and wireless communication will enable the robot to operate without power and ethernet wires
  • using the onboard imu for state estimation will enable the robot to operate outside of the motion capture area
  • the robot will carry two lithium polymer batteries - one battery pack in the front and one battery pack in the back of the robot
  • the custom power management board will enable safe operation of the batteries, e-stop handling and real-time current and battery voltage measurements
  • there is a status led ring with 12 RGB leds on the top of the robot
  • there are two payload interfaces with mounting holes to attach additional components to the top or the bottom of the robot
  • the estimated weight increase for this upgrade is about 300g
  • the components that were upgraded are marked red in the screenshot below


Quadruped 12dof v1.1 Overview - the updated components are marked in red.


Quadruped Robot 12dof v1.1 - Top View


Quadruped Robot 12dof v1.1 - Front View
Sitting - dimensions: 46cm x 31cm x 6cm
Folded - dimensions: 46cm x 22cm x 9cm

Electronics


Electronic Components Overview - weight: 463g

Power Management Board


Power Management Board - weight: 16g

  • this custom Power Management Board is being developed by Thomas Flayols
  • Documentation: Power Board GitHub Page
  • monitors battery voltage and current
  • reads on/off switch and e-stop
  • cuts battery power if the e-stop is activated
  • inrush current limitation
  • SPI interface for communication with the Master Board
  • 8 x XT30 output connectors
  • dimensions: 65mm x 35mm
  • mounting holes: ø 2,1mm / spacing 61mm x 31mm
  • weight: 16g

Off-the-shelf Components

Lithium Polymer Batteries


Lithium Polymer Batteries - weight: 68g each

  • SLS X-Cube 850mAh lithium polymer batteries
  • 3S1P / 11,1V / 30C continous / 60C burst
  • weight: 68g
  • dimensions: 60mm x 30mm x 21mm
  • power connector: XT 30
  • balancer connector: XH
  • don't use the lipo batteries without a power management board!
  • Ordering information below

Switches


Push Button Switches - weight: 3,5g each

  • E-Stop Switch: red button - normally closed - momentarily open while pushed
  • On-Off Switch: green button - normally open - momentarily closed while pushed
  • ø13,6mm / weight: 3,5g
  • Ordering information below

Status Led Ring


Status Led Ring - weight: 3,3g

  • Status Led Ring with 12 Neopixel RGB leds
  • dimensions: OD: 36,9mm / ID: 23,3mm
  • weight: 3,3g
  • Ordering information below

3D Printed Parts


  • All the STL files for 3d printing the parts below can be found here: STL Files.


The recommended printing direction for all the parts below is the positive z direction of the stl files.








Bill of Materials - Upgrade Quadruped Robot 12dof v1.1

Part Name Quantity Ordering Information Comments
Power Management Board 1 Power Board GitHub Page Custom Electronics
LiPo Battery SLS X-Cube 850mAh 2 SLS Product Page
SLSCUX08503130		 Charging and Safey Accessories
E-Stop Switch 1 RS 820-7587 Red Push Button Switch
On-Off Switch 1 RS 820-7593 Green Push Button Switch
Status Led Ring 1 Adafruit 1643
Mouser 485-1643
Conrad 1516560		 NeoPixel Ring RGB LED 12 x WS2812
Body Structure Center Payload 2 STL File 3d printed part
Body Structure Front Batterie Lid 2 STL File 3d printed part
Body Structure Front Batterie 2 STL File 3d printed part
Body Structure Top IMU Leds 1 STL File 3d printed part
Body Structure Top Master Power Board 1 STL File 3d printed part
Mount Switches 1 STL File 3d printed part
Neo Pixel Cover 1 STL File 3d printed part
Fastener M2 x 6 SHCS 8 Power Board and Master Board
Fastener M2,5 x 6 SHCS 1 Switch Mount Back
Fastener M2,5 x 8 SHCS 1 Switch Mount Front
Fastener M3 x 6 SHCS 4 Batterie Lid
Helicoil M2,5 x 3,75mm 10
Helicoil M3 x 4,5mm 20

Preparing the 3D Printed Parts








Wiring Documentation

Power Board and Master Board


Power Board, Master Board and Switches on Mounting plate - weight: 67g

Description Quantity Wire Length Comments
Power Wire 1 8cm XT30 to 2pin Hirose
SPI Wire 1 5cm SPI Wiring Documentation
Switch Wire 1 Pin assignment below.


Wiring On/Off and E-Stop Switch

Front Micro Driver Stack


Front Micro Driver Stack - fully wired - weight: 112g

Description Quantity Wire Length Comments
Motor Phase Wires 18 8cm Micro Driver Board Wiring Documentation
Power Supply Wires 3 30cm Micro Driver Board Wiring Documentation
SPI Wires 3 34cm SPI Wiring Documentation

Hind Motor Driver Stack


Hind Motor Driver Stack - fully wired - weight: 98g

Description Quantity Wire Length Comments
Motor Phase Wires 18 8cm Micro Driver Board Wiring Documentation
Power Supply Wires 3 16cm Micro Driver Board Wiring Documentation
SPI Wires 3 18cm SPI Wiring Documentation

Inertia Measurement Unit


Inertia Measurement Unit - weight: 18g

Description Quantity Wire Length Comments
Interface Wire 1 40cm IMU Wiring Documentation

Neo Pixel Led Ring


Neo Pixel Led Ring with Mounting Plate - weight: 22g

Description Quantity Wire Length Comments
Interface Wire 1 34cm Pin assignment below.


Neo Pixel Interface Wire

Battery Wire


Battery Wire - weight: 12g


Battery wire - the batteries are connected in series.

More Information

Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview

Authors

Felix Grimminger

License

BSD 3-Clause License

Copyright

Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University