12dof Quadruped Robot - weight: 2,5kg
Solo12 Quadruped Robot. Picture source: PAL Robotics
The Solo12 robot is now commercially available from PAL Robotics. You can purchase the fully assembled robot or you can order a kit with all the components that are required and assemble the robot yourself.
Both options include the inertia measurement unit, the calibration tools and the three different center plate options. The Micro Driver Board Programmer and the Master Board Programmer are included as well.
All the information on how to order the components and build the robot yourself can be found below.
- this page describes all the components that are required to build the Quadruped Robot with 12 active degrees of freedom
- the robot consists of a body module and 4 identical 3dof legs
- the 3dof legs are described on a separate page: Leg 3dof v1
- the robot has a connection wire for power supply and ethernet communication
- we are working on a new version with onboard batteries and wireless communication: Quadruped Robot v1.1 - Autonomy Upgrade
Quadruped Robot 12dof
Quadruped Robot 12dof - Top View
Quadruped Robot 12dof - Front View
Quadruped Robot 12dof - legs folded for transport
Quadruped Robot Dimensions: 45cm x 30cm x 6cm
Quadruped Robot Hip Height
- the standard Hip AA range of motion is 215 degrees
- the effective Hip AA range of motion can be extended to 325 degrees if the Hip FE joint is moved simultaneously
- the Knee and Hip FE degrees of freedom can perform multiple rotations
- this enables the robot to step onto obstacles or to recover from a fall
- the wires that are routed through the Hip FE joint limit the number of rotations that can be performed
3dof Leg Modules - weight: 485g each
The hip adapters are installed on the front right and the hind left leg.
Body Structure - weight: 300g
Body Structure Center Plates - 3 different versions are available.
Electronic Component Overview
Electronic Components Quadruped Robot
Master Board v2 - weight: 19g each
- Custom electronics board: Master Board Documentation
- Master Board Wiring Documentation
Micro Driver Stacks for Quadruped Robot - weight: 94g
- Custom electronics board: Micro Driver Board Documentation
- Micro Driver Wiring Documentation
Inertia Measurement Unit - weight: 13g
- Lord Microstrain 3DM-CX5-25
- 3DM-CX5-25 Product Page
- We use the imu with an extended measurement range
- Gyro Rate: +/- 900 deg/sec.
- Accelerometer range: +/- 20G
- If you want to use a different IMU, you might want to have a look at this post in the ODRI Forum
- IMU Wiring Documentation
- Ordering information below
3D Printed Body Structure Components - weight: 270g
- All the STL files for 3d printing the body structure can be found here: STL Files Body Structure.
The recommended printing direction for all the parts below is the positive z direction of the stl files.
- Body Structure Back - STL file
- weight: 12g
- Body Structure Bottom Rev A - STL file
- for Micro Driver boards with 90 degree Hirose encoder connectors
- weight: 10g
There are 3 different versions for the body structure center top plate.
Minimal, with handle and with handle and Vicon marker attachments.
- Body Structure Center - STL file
- this part can be used on the bottom and the top of the robot
- weight: 24g
- Body Structure Center Handle- STL file
- weight: 29g
- Body Structure Center Vicon- STL file
- weight: 30g
- Body Structure Front - STL file
- weight: 12g
- Body Structure Hip AA Support Rev A - STL file
- weight: 20g
- Body Structure Side - STL file
- weight: 18g
- Body Structure Top IMU - STL file
- weight: 12g
- Body Structure Top Master Board - STL file
- weight: 11g
- Led cover - STL file
- weight: 0,4g
- Print with transparent or translucent material
- Hip Adapter - STL file
- weight: 5g
- Micro Driver Stack Spacer - STL file
- weight: 0,1g
Hip AA bearings - weight: 3,4g each
- Stainless steel bearings for Hip AA dof
- Dimensions: 25mm x 20mm x 4mm
- Ordering information below
- stainless steel fasteners
- Ordering information below
- Plastic M2,5 fasteners for the IMU
- Ordering information below
- M3 x 4,5 Helicoil thread inserts
- Ordering information below
Reflective Markers for motion capture system - weight: 1g each
- 9.5mm Vicon Markers
- M4 x 10 set screws for attachment
- Ordering information below
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| 3DOF Leg | 4 | 3DOF Leg Documentation | Custom assembly |
| Master Board v2 | 1 | Master Board Documentation | Custom electronics |
| Micro Driver Board v2 | 6 | Micro Driver Documentation | Custom electronics |
| Inertia Measurement Unit | 1 | Lord Microstrain 3DM-CX5-25 Distributors |
Extended measurement range: Gyro Rate: +/- 900 deg/sec. Accelerometer range: +/- 20G |
| Body Structure Back | 1 | STL file | 3d printed part |
| Body Structure Bottom | 2 | STL file - Rev A | 3d printed part |
| Body Structure Center | 1 | STL file | 3d printed part |
| Body Structure Center Handle | 1 | STL file | 3d printed part |
| Body Structure Center Vicon | 1 | STL file | 3d printed part |
| Body Structure Front | 1 | STL file | 3d printed part |
| Body Structure Hip AA Support | 4 | STL file | 3d printed part |
| Body Structure Side | 4 | STL file | 3d printed part |
| Body Structure Top IMU | 1 | STL file | 3d printed part |
| Body Structure Top Master Board | 1 | STL file | 3d printed part |
| Led Cover | 1 | STL file | 3d printed part Print with transparent or translucent material. |
| Hip Adapter | 2 | STL file | 3d printed part |
| Spacer Micro Driver Stack | 16 | STL file | 3d printed part |
| Hip AA Bearing 25mm x 20mm x 4mm ET2520 2Z VA |
4 | Emiliana Cuscinetti Doppiaemme EZO USA SBN |
Italy: Emiliana Cuscinetti or Doppiaemme USA: EZO USA All other countries: Send an email to info@sbn.de and ask for a quote - they ship worldwide. SBN # C07024 We use stainless steel bearings. |
| Fasteners Body Structure Side M3x12 Socket Head Cap Screw |
16 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Fasteners Body Structure Center M3x8 Socket Head Cap Screw |
8 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Fasteners Hip AA Actuator Modules M2,5x10 Socket Head Cap Screw |
16 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Fasteners Hip AA Support M3x14 Socket Head Cap Screw |
8 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Fasteners Micro Driver Stack M2,5x25 Socket Head Cap Screw |
8 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Fasteners IMU | 3 | M2,5x16 Slotted Screw Conrad 839940-62 |
Polyamide Plastic Shorten to 13mm |
| Helicoil M3 x 4,5mm | 32 | RS 470-838 Hoffmann 082812 M3 |
1,5xD Böllhoff 41890030045 |
| Vicon Markers Ø 9,5mm | 13 | Vicon Distributors | Reflective Vicon Marker, solid, on plastic foot, Ø 9,5mm |
| Fasteners Vicon Markers M4x10 Set Screw |
13 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
Wiring Quadruped Robot - Bottom View
- The wiring of the robot is described on a separate page: Details Electronics 12dof Quadruped
| Joint ID | Joint Name | Motor Driver Card | Motor Port | Motor Index |
|---|---|---|---|---|
| 0 | FL_HAA | 0 | 0 | 0 |
| 1 | FL_HFE | 1 | 1 | 3 |
| 2 | FL_K | 1 | 0 | 2 |
| 3 | FR_HAA | 0 | 1 | 1 |
| 4 | FR_HFE | 2 | 1 | 5 |
| 5 | FR_K | 2 | 0 | 4 |
| 6 | HL_HAA | 3 | 0 | 6 |
| 7 | HL_HFE | 4 | 1 | 9 |
| 8 | HL_K | 4 | 0 | 8 |
| 9 | HR_HAA | 3 | 1 | 7 |
| 10 | HR_HFE | 5 | 1 | 11 |
| 11 | HR_K | 5 | 0 | 10 |
Body Structure Center Plate with Vicon Markers - weight: 43g
- You can use this Vicon object for base state estimation
- It can be installed instead of the Body Structure Center Plate
- You can download the Vicon Object here: Solo12 Vicon Object
Click on picture above to view the PDF drawing
- more information about the conventions that we use for our robots: Conventions
IMU Mounting Position - the IMU is colored red in the screenshot above.
- the IMU is mounted in the front of the robot
- the label on the IMU is pointing downwards (see picture below)
- the coordinate systems of the IMU and the Quadruped Robot have the same orientation - more information here: Coordinate System Conventions
- the offset between the coordinate systems is documented below
- the IMU origin is not in the geometrical center of the IMU
- IMU Technical Drawing - see Page 2
| IMU Origin Position in the Robot Coordinate System |
X | Y | Z |
|---|---|---|---|
| 104,07mm | -6,35mm | 15,40mm |
The simplified STL files for visualization and simulation can be found here: STL Files Visualization
Click on picture above to view the PDF drawing
Quadruped Inertia Parameters - Click on picture to view PDF document.
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Stand Fork | 2 | STL file | 3d printed part |
| Stand Foot | 4 | STL file | 3d printed part |
| Slotted Profile Vertical | 2 | Item 7.0.000.09 or Item 0.0.641.61 |
Size 8 - 40mm x 40mm Length: 40cm Aluminum or Wood-PP composite |
| Slotted Profile Horizontal | 1 | Item 7.0.000.09 or Item 0.0.641.61 |
Size 8 - 40mm x 40mm Length: 35cm Aluminum or Wood-PP composite |
| Angle Bracket | 4 | Item 0.0.411.15 | 90 degree angle bracket 40mm |
| Fastener Stand Fork M8x25 Flat Head Screw |
2 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Fastener Stand Foot M5x20 Socket Head Cap Screw |
8 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Rubber Feet | 4 | RS 173-5948 | Square Feet 20.6mm x 20.6mm x 7.6mm |
12dof Quadruped Robot on Stand
Quadruped Robot 12dof standing - Click on picture to view the cad model in your browser
Quadruped Robot 12dof sitting - Click on picture to view the cad model in your browser
Quadruped Robot 12dof Body Structure - Click on picture to view the cad model in your browser
The Solidworks CAD files are available here: Quadruped 12dof v1 Solidworks CAD files
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
Felix Grimminger
BSD 3-Clause License
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