How to Design a DIY Quadruped Robot

[@Fleurlean4]

It’s great to see that with logical and clear engineering thinking you can design a perfectly functional platform for development.

[@Fleurlean4]

Designing for specific purposes is the ideal version of this, use case specifications will be useful for this.

[@fernando3061]

The googly eyes totally sold it, I subbed lol that was hilarious.

[@bhizio]

Qué grande! Te lo has currado amigo!! Gracias por compartirlo💪🏻💪🏻💪🏻💪🏻

[@scooterboom4157]

you are a genius

[@sgpatki]

Sir gr8 work🤩

[@WillowCox134]

Pajeet spotted

[@faizahmedshaheen6919]

The robot you made is very impressive and inspiring brother ☺️

[@Androtics_AI]

Thank you so much Faiz Ahmed! Im happy you find it inspiring 😄

[@Kmintro]

Rs

[@saveplanet3977]

Interesting work and well explained

[@enochabban9454]

When you do get the time, could you walk us through your design flow in Blender from the systems thinking perspective?

[@danieladempima2552]

Amazing project.Can you put a robitic arm?

[@Androtics_AI]

Great idea Daniel! Something I have thought to add in the future ;)

[@DaveEverett01]

Great work there. I am wondering if the legs should be closer together, that is the 2 front legs should be closer to each other and the 2 rear legs closer together. If you look at a dog, cat or horse, you will find they are arranged this way. This arrangement should make the robot much more stable. You appear to have room for the shoulder servos to be closer without them clashing. You also appear to have room given the battery and Pi widths.

[@Androtics_AI]

Hi Dave! Thanks for your comment! I think you made a good point there. In my design the robot is not squared, but the front and back legs are a bit closer together. Anyways, this is something I could improve in a future design

[@DaveEverett01]

@@Androtics_AI Cool. I'm working to CAD up the dog in another program so I can look at the geometry, but this will probably take a week or so.

[@Androtics_AI]

@@DaveEverett01 You mean my design or your own design of a robot dog? Either way, good luck!!

[@DaveEverett01]

@@Androtics_AI Your design, but made thinner in the body and maybe modify the parts to simplify the 3d print. I have already ordered all the items in your Bill of Materials. Thanks for publishing everything, hopefully we can all contribute to your great project.

[@Androtics_AI]

​@@DaveEverett01 Oh wow! that's great! thanks for building Pavlov mini! I'm very happy to help if you need anything, and if you improve the design, please share it with the rest of us ;)

[@manupriyapss2b278]

could you provide any research papers or atrticle on the mechanism

[@arf4897]

How did you program ,which board did you use ,how did you connect camera,and finally how you using robodog autonomously or with an Rc controller 🙂

[@bun72642]

Amazing video, loved it

[@Androtics_AI]

Thank you!

[@CBWP]

What screw sizes do I need to order?

[@GOLDSPACEVIDEO]

Great job

[@markgatenby9198]

Thanks for the great project. Do you have wiring diagram? What drives the servos?

[@MandMaog]

Yes, where is the arduino connected?

[@suppagaming7489]

Nice work

[@EmilianoBorghi10]

Batman doesn't want to be a KZbinr 😂 Good video by the way!

[@vikaspoddar001]

you are great brother

[@joamarticorena9018]

fascinating

[@Androtics_AI]

Thanks Darveider!

[@AngelGonzalezM]

Increíble . De donde eres?

[@Androtics_AI]

Muchas gracias! Soy de Toledo (España)

[@adrienguidat2214]

Thanls for sharing!

[@Syed___]

What if the battery is over or can we use solar plate to function robot?

[@zylek4163]

Hi, I really enjoyed the video and I got inspired to build this. I just couldn't find the foot left and foot right models on gitlab. They are under feet parts. I only get a message, that it didn't find them. Does anyone know, where to get these files. Thanks in advance.

[@Androtics_AI]

Hi! thanks for your interest in the project! I checked the gitlab repository for the left and right foot parts and I myself can download these parts perfectly. Maybe try to download the whole repository again and make sure you are in the master branch. Let me know if this still doesn't work, so I can try to send you these parts

[@zylek4163]

@@Androtics_AI Hi, thank you very much for the tip. I can download all models now. Do you also have some kind of guide or diagram of the wiring?

[@vinabot-com]

It's a nice robot. Just need to improve the gait generation and dynamic balancing, then it's should be good.

[@Androtics_AI]

Thanks! yes, I'm working on the balance

[@fernando-fk6gr]

Eeeeeeeeh primo muy buen video,pero ostias haber que has dicho 😂😂😂

[@Androtics_AI]

pues nada, todo inventado jajaj muchas gracias Fernando!!

[@npawankumar1299]

i am currently making the same bot, please share the notes of how can i design walk function of my dog. its actually part of my sem project. i am not getting idea

[@jonathanr4242]

That is fantastic.

[@faizahmedshaheen6919]

Androtics what software do you use for the Robot? Do you use ROS for the Robot?

[@Androtics_AI]

Yes, I use ROS to integrate different algorithms that I implemented. You can check out my other video, where I give a small introduction 🙂

[@marcomusitelli1044]

Hi nice robot. I've tried to make a similar one with arduino but I don't know how to program it.

[@vell0cet517]

Awesome project! How did you decide on the ratio of the length of the tibia/femur? Is it 1:1? Was that a choice based on the mechanical properties? Or just seemed like a reasonable ratio?

[@Androtics_AI]

Thanks! Good question! It would be totally possible to choose another ratio. The main reason for this choice is symmetry, because I use the same motors to move the tibia and femur, and they have the same mechanical properties (torque and speed). Having the tibia shorter, for example, would require different speed and torque commands in these two motors to reach the same foot positions.

[@vell0cet517]

@@Androtics_AI Thanks for the reply! Mechanically speaking, would there be advantages to different leg length ratios that might make it worth the effort to use different gearing on the belts and code to compensate?

[@Androtics_AI]

I'm not sure, the only advantage I can see is if you use a less powerful (less torque) but lighter motor to move the tibia, and then you design the tibia shorter to compensate. Having a lighter motor there would make the legs lighter and therefore the robot more stable, as I explain in the video. But you will run into other problems. For example you will have less foot reachability, which means that you will have less available 3D positions of the foot when you move the motors of the leg. This most likely will affect the walking of your robot. But it's an interesting discussion, thanks!

[@vell0cet517]

@@Androtics_AI Really excellent points you’ve made. I guess another important point in favor of 1:1 is that it looks like Boston Dynamics and MIT’s quads have what appears to be 1:1. I imagine they’ve weighed the pros and cons of different ratios pretty thoroughly and probably arrived at the best possible geometry (or at least damn close). Thanks again for your awesome video and taking the time to respond. Looking forward to more great stuff from you in the future!

[@roboarjun]

Hey, I currently only know about arduino and am able to do control motors, relays, pair with bluetooth, work with sensors, motor drivers, servos and all that stuff. I've made a few helpful projects using it like 'smart' wheelchair and agriculture robot. But that's about it. All of them I've coded myself. I came across videos of James Bruton, your channel and many more. I was wondering, how can I get on that level where I can make my own 3d models on some 3d software, all that kinematics stuff. How do I develop the mechanics for it? Code for the balancing of Bipedal or Quadrupled robots. How do I use Computer Vision to control robots? I searched youtube for it but must of the videos are too small to explain the code and the structure. By that I mean, the logic and the thought process behind it. There is just the 3d files and the code. That wouldn't be innovating from a learner's perspective I think. There must be online courses I enroll do to achieve this. What are those? I couldn't understand which kind of course would be suitable for me. Please guide me.

[@DaveMac-ld5re]

Hey, I was wondering if anyone knew how to wire all of the components together?

[@basar4798]

how can I reach 3D printing files , the link doesn't work

[@Androtics_AI]

Thanks for letting me know. The link is fixed now, you should be able to see the files.

[@basar4798]

@@Androtics_AI thanks

[@GamesUKStudios]

what printer you used

[@Androtics_AI]

I have my custom printer, similar to a prusa i3

[@AdobadoFantastico]

Can someone explain why the tibial section is always so short on all of these? It seems to be

[@madunitharanga4705]

can you send the names of the stuff because I didn't logged to the site

[@Androtics_AI]

Hi Maduni! try to go to the root git repository: gitlab.com/anflores/pavlov_mini/ You don't need to have an account to access it. From there, you can go to the 'robot components' seccion.

[@Alice8000]

ur nice bro

[@littlebqe]

I have a question from a beginners perspective would it be possible to build this on a larger scale ?

[@tictaccatsnatcher8671]

Yeah but u would need to use larger and stronger motors which would be much more expensive

[@audiohub2]

I would like to make robot dog for my schildren 2 years old and 5 years old plase let me know if it's possible Thanks

[@josgraha]

this is an _excellent_ mechanical design that looks incredibly efficient for power transfer without ripping the joint assembly apart like most other designs out there, do you do professional robotic design or something? by the way thanks so much for sharing!

[@josgraha]

btw do you have an IK simulation for the gaits / movement etc?

[@zuzurobot]

Nicr work!

[@raihanaminrana9985]

Can we somehow replace the raspberry pi with arduino?

[@tusharsahani4989]

How RASPBERRY PI work in 7.4 volt ?

[@KSATica]

You should sell those I’d buy one ☝️

[@letstalk3400]

How much did it costs you to make a full robo dog...

[@Androtics_AI]

The price of the version in this video is about 500 Euros. However I updated the servomotors (which I'll show in later videos), created a robot face and included a lidar sensor, which increased the price to around 900 Euros. More info in the git repository

[@williamhuang5329]

Hanzhen harmonic drive gear , robot joint , strain wave reducer over 30 years eperience

[@audiohub2]

i mean for riding

[@littlebqe]

That cat was not safe on that ledge 😬

[@OMSRtech]

you look like carry minati

[@angelicaguedes2886]

youuu areeee nooot thheaching meeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

[@easy_3d]

Nice work