Poppy quadruped

I would like to introduce my new project based on Poppy architecture. A four legs very light creature controled by :
_ Raspberry pi2
_ Arduino uno
_ 12 XL-320
_ IMU MPU-9150
_ Phidget force sensor

I hope that this creature will be able to run.


Yes ! a good project. I started by this project a long time ago to make a horse.

but I decided to cut the robot in two parts to study only the rear part. I finally worked on biped. I then bought a Poppy and I came back to quadruped :slightly_smiling: but it is not a horse.

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Ok! That’s why you have somes trouble with Pixl…
I will keep you in touch about the new Hipi circuit…

This is going to be hard to choose on which project my Darwin mini servos will be dedicated right after having played a little with it’s original form :slight_smile:

Your quadruped? Heol? Poppyrate?
Maybe I’ll go with my own quadruped based on my paper/9g servos called Gispy :innocent:

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Cool project !

For the feet tips, you can consider using similar silicon feet as in poppy-soft-starfish, it should reduce the slippery effects you are likely to encounter. See Poppy Soft Connector.

For some information and references on the dynamic walking of quadruped robot, you can look at this line of work: http://biorob.epfl.ch/research/quadruped

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Thank you, your soft robot is amazing. For the foot of my robotisaure, I used the possibility to print in soft plastic :

But it is definitely not so soft than silicone.


Something I don’t get (in Poppy, Ergo Jr and all projects here) is the way it is controller.
I see you plan to use a Raspberry Pi.
You will run the python code on it.
Then, how is the proper servo commands sent ? through a connected arduino ?

In my past experiments I created many legged robot.
My best results for foot was elastic stop :

That smell like s**t but it’s works perfectly!

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The dynamixel servo are directly controled by the raspberry with Pypot using python library Serial (through usb with the usb2ax or directly through the serial port (Tx/Rx) with the Pixl board).
Arduino can be useful if you want to add sensor (IMU, Force, etc…)

I was wondering if I can use my OpenCM9.04 in my Darwin mini as a translator from PC/RPi to Dynamixel.
Does it sound plain stupid or is there something to do that way ?

It is not stupid at all, it is what does the usb2ax, but you’ll have to write some code on the OpenCM9. You can look at the usb2ax sources.

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It’s a perfect example. I’ll have a look to see if it’s enough to understand what kind of message pypot is sending

With the integrated electronic :

repo : https://github.com/Roboticia/horse

To manage the force sensor I need to design a board :
Let’s hope that there isn’t any mistake in the schematic :

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Now under construction :

So your tests showed that Pixl board is enought to drive safely 12 XL 320 ?
That’s a good news.

I’ll tell you if issues arise… :smile:

Ready to go :slight_smile:


Some news about the quadruped creature. First, it is not easy to move even a quadruped creature. My algorythm for the walk is almost ready but sure it will be possible to improve it !!

I also wondered if xl-320 are enough powerful to allows the creature to gallop, I think they are :

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Sample for walking and Trotting :
Code here : https://github.com/Roboticia/horse/blob/master/software/roboticia_horse/doc/Roboticia-horse_walking.ipynb


Your project is just amazing!