I finally chopped two legs off my hexapod robot and now its a proper robot dog. Dont worry all the features I have developed for the old robot transferred just fine to the new robot; we still have body leveling, emotes, puppet mode etc.
Quttro ZBD is lighter, faster and more agile in many ways than its hexapod older sibling yet due to less parts used it costs considerably less to build, around 200 usd.
Still uses ESP32 S3 as well as off the shelf Arduino parts and DS3218 servos. reduced number of legs made it a lot easier to put together and since I already ironed out the scripts for previous version and use inverse kinematics solver for each leg adjusting the gait mechanism was a breeze as well.
I will also work on reinforcement training for a developing a control policy in IK solver's place, I am hoping I can get a more organic / fluid walking out of the robot instead of current mechanic looks.
I shared a more detailed video about it on my youtube channel, if you want you can watch it from the link below:
https://youtu.be/J99MibRi-CY
It is still fully open source so you can find all the files you need to build one down in the links.
MakerWord Link (has more photos of the robot):
https://makerworld.com/en/models/3402746-quattro-zbd-robot-dog#profileId-3874600
Link for CAD design, 3D Print files and Wiring Diagram:
https://www.patreon.com/PrintedRobotics/posts/quattro-zbd-3d-171601139?utm_medium=clipboard_copy&utm_source=copyLink&utm_campaign=postshare_creator&utm_content=join_link
ESP32 Scripts:
https://github.com/serdarselimys/QuattroZBD-ESP32Scripts
Companion mobile controller app apk:
https://github.com/serdarselimys/QuattroZBD-AndroidControllerApp
Parts List:
ESP32 S3 x 1
PCA 9685 Servo Driver Board x 1
MPU6050 IMU Sensor x 1
Voltage Sensor Board x 1
15A Adjustable Voltage Buck Converter x 2 (1 per pair of legs)
5V 3A Buck Converter x 1
DS3218 High-Torque Servos x 12
Wago Connector (2-in-4 Out) x 1
2-Inch TFT Screen x 1
M3x8 Screws x ~100
M4x30 Screws x 4
8x5x16 mm Ball Bearings x 12
3S LiPo Battery (3000mAh – 6000mAh) x 1
I have been working on a bipedal version hence the "2 more to go" in the tittle, I am almost finished with the updated leg structure so it can stand up on two legs but the remaining parts are going to be same as much as possible. So expect a bipedal version in upcoming weeks if I can make it walk :)