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A robot cat project shared by Rongzhong Li on Hackster.io. Be sure to check out the video to see how each iteration progressed:
With very limited resources and knowledge, I started small. Smaller structure avoids a lot engineering problems of those larger models. It also allows faster iterations and optimization, just like rats adapt faster than elephants. Regardless the hardware, the major control algorithm could be shared once accurate mapping of DoFs is achieved. I derived a motion algorithm (with a dozen of parameters) for multiple gaits. The current fastest speed is achieved with trotting(2-leg-in-air). As I constantly add new components and change the CoM, while the adaptive part is not good enough, I reserve the tuning time for finalized models.
On top of the motion module is a RasPi. The Pi takes no responsibility for controlling detailed limb movements. It focuses on more serious questions, such as “Who am I? Where do I come From? Where am I going?” It generates mind and sends string commands to the Arduino slave. Motion instructions can still be sent to the Arduino in a slower manner. A human remote sits in the middle to intercept the robot’s control of its own body. It will still hold certain instincts, like refusing to jump down a cliff.
Each Friday is PiDay here at Adafruit! Be sure to check out our posts, tutorials and new Raspberry Pi related products. Adafruit has the largest and best selection of Raspberry Pi accessories and all the code & tutorials to get you up and running in no time!
Stop breadboarding and soldering – start making immediately! Adafruit’s Circuit Playground is jam-packed with LEDs, sensors, buttons, alligator clip pads and more. Build projects with Circuit Playground in a few minutes with the drag-and-drop MakeCode programming site, learn computer science using the CS Discoveries class on code.org, jump into CircuitPython to learn Python and hardware together, or even use Arduino IDE. Circuit Playground Express is the newest and best Circuit Playground board, with support for MakeCode, CircuitPython, and Arduino. It has a powerful processor, 10 NeoPixels, mini speaker, InfraRed receive and transmit, two buttons, a switch, 14 alligator clip pads, and lots of sensors: capacitive touch, IR proximity, temperature, light, motion and sound. A whole wide world of electronics and coding is waiting for you, and it fits in the palm of your hand.