Quadruped Robot 8dof v2 - weight 1,9kg
- weight reduced body frame structure and new electronics
- 8dof - 8 degree of freedom robot
- Power and communication over wire (24V / Ethernet)
- Master board, micro drivers and inertia measurement unit
- Robot weight 1,7kg
- We are adding 200g weights as placeholder for batteries
- Weight 1,9kg with 200g battery placeholders
Quadruped robot without top structure
Quadruped robot standing
Master board v2 - weight: 19g
- Custom electronics board -> Master Board Documentation
Micro Driver v2 - Stack with 2 cards - weight: 32g
- each micro driver board controls 2 brushless motors
- there is a stack with 2 cards in the front and in the back of the robot
- Custom electronics board -> Micro Driver Board Documentation
- Lord Microstrain 3DM-CX5-25
- Weight: 13g
- Lord Microstrain webpage
- We use the imu with an extended measurement range
- Gyro Rate: +/- 900 deg/sec.
- Accelerometer range: +/- 20G
Body structure part overview - the weight of the parts in the picture is 226g.
Body structure assembled - weight: 247g
The recommended printing direction for all the parts below is the positive z direction of the stl files.
- All the STL files for 3d printing the body structure can be found here: STL Files Body Structure.
- Body Structure Bottom - STL file
- weight: 38g
- Body Structure Front - STL file
- weight: 24g
- the front and back plates of the body are identical
- Body Structure Side - STL file
- weight: 52g
- the left and right side body structures are identical
- Body Structure Top - STL file
- weight: 35g
- Body Structure Top Vicon- STL file
- weight: 37g
- attachment points for Vicon markers
- Body Structure Top Roll Bar- STL file
- weight: 55g
- attachment points for Vicon markers
- roll bars for protecting the Vicon markers
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| 2DOF Leg | 4 | Custom assembly | 2DOF Leg Documentation |
| Body Structure Bottom | 1 | STL file | 3d printed part |
| Body Structure Front | 2 | STL file | 3d printed part The front and back plates are identical. |
| Body Structure Side | 2 | STL file | 3d printed part The left and right side plates are identical. |
| Body Structure Top | 1 | STL file | 3d printed part |
| Spacer Micro Driver Stack 12mm | 8 | STL file | 3d printed part |
| Stand Adapter | 1 | STL file | 3d printed part (optional) |
| Inertia Measurement Unit | 1 | Lord Microstrain 3DM-CX5-25 |
Extended measurement range Gyro Rate: +/- 900 deg/sec. Accelerometer range: +/- 20G |
| Master Board v2 | 1 | Master Board Documentation | Custom Electronics |
| Micro Driver Board v2 | 4 | Micro Driver Documentation | Custom electronics |
| Fasteners Body Structure | 25 | M3x8 Socket Head Cap Screw | Stainless steel |
| Fasteners Legs to Front Plate | 8 | M3x12 Socket Head Cap Screw | Stainless steel |
| Fasteners Micro Driver Electronics | 8 | M2,5x20 Socket Head Cap Screw | Stainless steel |
| Fasteners Master Board | 3 | M2x6 Socket Head Cap Screw | Stainless steel |
| Fasteners IMU | 3 | M2,5x16 Slotted Screw Conrad 839940-62 |
Polyamide Plastic |
| Helicoil Threaded Inserts | 25 | M3x4,5 Helicoil |
|
| Helicoil Threaded Inserts | 8 | M3x6 Helicoil |
- the inertial sensor 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 |
|---|---|---|---|
| -10,18mm | -38,35mm | -7,85mm |
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.
More wiring information: Details Wiring
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Hip FE Motor Phases | 3 | 6cm | FRHFE, FLHFE, HRHFE and HLHFE |
| Hip FE Encoder Wire | 1 | 10cm | FRHFE, FLHFE, HRHFE and HLHFE |
| Knee Motor Phases | 3 | 12cm | FRK, FLK, HRK and HLK |
| Knee Encoder Wire | 1 | 19cm | FRK, FLK, HRK and HLK |
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| SPI Wire | 1 | 16cm | #0 - FLHFE and FLK |
| SPI Wire | 1 | 16cm | #1 - FRHFE and FRK |
| SPI Wire | 1 | 20cm | #2 - HLHFE and HLK |
| SPI Wire | 1 | 14cm | #3 - HRHFE and HRK |
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Motor Phase Wires | 24 | 7cm |
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Stand Adapter | 1 | STL file | 3d printed part |
| Pin 3mm x 36mm | 1 | ||
| Slotted Aluminum Profile Length 40cm |
2 | Item part number: 0.0.026.33 | Item Size 8 - 40mm x 40mm |
| Slotted Aluminum Profile Length 20cm |
2 | Item part number: 0.0.026.33 | Item Size 8 - 40mm x 40mm |
| 90 Degree Angle Brackets | 4 | Item part number: 0.0.411.15 | Item Size 8 |
| End Caps | 4 | Item part number: 0.0.026.01 | Item Size 8 - 40mm x 40mm |
Vicon Object - weight 48g
| Part Name | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Body Structure Top Vicon | 1 | STL file | 3d printed part |
| Helicoil Threaded Inserts | 8 | M3x4,5 Helicoil |
|
| Vicon Markers | 9 | 9,5mm diameter | |
| Fasteners Vicon Markers | 9 | M4x10 Set Screw | Stainless Steel |
Vicon Marker Posititions
- You can download the Vicon object here: Quadruped 8dof v2 Vicon Object
Body Structure Side
Body Structure Top
Body Structure Top with Vicon marker attachments
Body Structure Bottom - Helicoils
Body Structure Bottom - tapped holes for electronics
Fasteners Body Structure - use the same fasteners on the opposite side.
Fasteners Body Structure - use the same fasteners on the opposite side.
Fasteners electronic components.
Quadruped Robot 8dof v2
Click on the picture to view the cad model in your browser
Quadruped Robot 8dof v2 folded
Click on the picture to view the cad model in your browser
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
Copyright (c) 2019-2022, Max Planck Gesellschaft and New York University