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RFEV - another quadruped robot

Yet Another Quadruped Robot, Jetson Nano, ROS2, 12 DoF

richard-sandRichard Sand
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This is (yet another) a quadruped robot built from scratch. The goal from the controller standpoint is to use the Jetson Nano microcontroller from Nvidia with its 128 GPU cores to aid in image processing and AI capabilities, and to use the ROS2 robot operating system. For the physical robot I wanted 12 DoF and also a pan/tilt camera. I designed the legs and housings myself in Fusion360 based on ideas found online. Feel free to suggest improvements or tell me that they're awful.

The frame is made using 10mm x 10mm aluminum extrusion from a Makerbot kit.

The microcontroller is an NVidia Jetson Nano 4GB dev kit

The 12 leg servos are MG996R servos

The 2 camera servos are SG90 servos

The camera is a simple Arducam 5mp camera

I use the PCA9685 PWM controller to drive the 14 servos, connected to one of the I2C connectors (2 pins) on the Nano

Right Holder.stl

Right side tilt servo holder

Standard Tesselated Geometry - 63.27 kB - 04/18/2023 at 15:52

Download

SG90 Plate v7.3mf

The camera plate that fix the typical-sized Arducam RP camera and attaches to the tilt servo

3mf - 108.18 kB - 04/18/2023 at 15:52

Download

Left Holder.stl

Left side tilt servo holder

Standard Tesselated Geometry - 59.75 kB - 04/18/2023 at 15:52

Download

SG90 Pan Tilt Horn Base v2 v4.3mf

Base plate for the pan/tilt mechanism that the pan servo attaches to

3mf - 84.66 kB - 04/18/2023 at 15:52

Download

Jetson Nano Base v11.3mf

The base for the Jetson Nano DEV kit. My kit was the 4GB/B01 board but it should also fit the older 2GB/A02 version

3mf - 165.38 kB - 04/18/2023 at 15:45

Download

View all 14 files

  • 1
    Installing ROS2 on the Jetson Nano

    Using Jetpack 4.4 which runs Ubuntu 18.04. We install ROS2 Foxy. I tried Humble but it requires 20.04 or later. https://richardsand.com/?p=1634

View all instructions

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