Quadruped robot 3D printed creation process

[@odw32]

Amazing! Interesting to see that you posted 10 years ago on this channel with little Arduino balancing bots, and now you show off this incredibly complex, custom-built robotics project. Looking forward to the next video!

[@Jorgefer88]

Thanks a lot! Yes, in this time I have done other things with electronics / 3D printers, but I had not published it. With this project I am going to share videos trying to explain everything I do 😀

[@AvivMakesRobots]

You wound your own motors. Heck yeah. I'm absolutely inspired.

[@irkedoff]

Thanks for sharing. I'm impressed. 💜

[@Scott170c]

Wow! Thank you for documenting your whole process. This is super good for me since I am building a dumbed-down version of this!

[@Jorgefer88]

It's great to hear that! I would love to see your design and so we can learn and improve both 😀

[@badao8277]

thanks to you, now i have know what type of motor i should use

[@TechnoAutomation]

It's so satisfying watching from sketch to final model & all parts custom designed. Waiting to watch further process video

[@jadenbenton4472]

Hand coiling the acturators is crazy! I once tried to do it for a motorycycle stator and to no avail. This is an incredible project and I hope you continue to devlop it.

[@aneeshabraham2]

Just WOOWWW!!!!. Waiting for more updates on this... Thanks a ton for sharing this.

[@swannschilling474]

My god!!! So much work!!!!!!! What a great design!! 🤩🤩🤩

[@richardwatkins6725]

this is an awesome !! The journey and showing from first principles how this stuff isn't rocket science but it is complex and a lot of hard work. looking forward to the next video

[@seankelley1878]

This is amazing, and I love that you showed your processes and your iterations of the project! I would love to see more of the process if you have more footage or are interested in making videos of such. How did you learn the concepts and skills you needed for this project? Was it mostly though higher learning establishments, mentors, etc., or are there some good sources of knowledge online that you could point me to? Again, fantastic work, thank you for publishing this video, and thank you for reading my comment! Happy new year!

[@Jorgefer88]

Thanks a lot! I have learned everything thanks to online resources, youtube videos, blogs, thesis papers, etc ... The main thing is to have an actuator working well at the firmware level and at the mechanical level. And above all that it can have the maximum possible torque and speed. The firmware of the PCB is based on the SimpleFOC library with my inclusions for canBUS communication. At a mechanical level I have based myself on Katz's thesis on the actuator of the mini cheetah.

[@charlescai6672]

Super super amazing work I've ever seen for the robotics!!!

[@Jorgefer88]

Thanks!

[@mohbrendel2270]

Absolutely amazing. I have no words.

[@akshaybinwade7454]

Awesome, hat's off to the huge amount of work you are putting in...🙌🙌🙌

[@rboogiable]

This is by far the best mini cheetah "alike" robots that I've seen done by single person - stellar work! Are you planning to release or sell this design in the future ? If yes - I'm interested! In my opinion it would be a great alternative for hobbyists who can't afford an unitree or don't want to use cheep servo-driven designs.

[@Jorgefer88]

Thanks a lot!! At the moment I do not plan to sell it or make it open source. When I finish it I'll decide what to do with it. Yes, I found myself in the same situation. Commercial actuators are very expensive and the servos make the movement not so natural. That is why I decided to do it with 3D printing, making it as cheap as possible.

[@jomonjoy5957]

Wow awesome man. Keep doing this amazing job, all the best for your future.

[@psevdonim_zaniat]

Какой ты крутой!!!!! Я восхищён!!!!! 😎😎😎 Продолжай в том же духе!!!

[@aladinmovies]

Amazing, Love your project and treatment. Happy New Year!

[@teme6519]

Muy buen trabajo Jorge. Ahora queremos seguir viendo como avanza tu proyecto en próximos vídeos. Tienes mi like y un nuevo suscriptor.

[@Jorgefer88]

Muchas gracias! Según avance el proyecto, mi idea es ir publicándolo poco a poco. A ver hasta donde puedo llegar con este robot 🙂

[@김민종-l6h]

Stunning work!. Build quadruped robot from wining coil? I never imagined building the robot from that stage. I think you can reduce the backlash If you change some core mechanical part(especially reducer's gears) to aluminum by using CNC, I think you already know tho!

[@chuongnguyen4980]

Such an inspiring video. Keep working, i wish you all the best

[@GameWorkflow]

Just wanted to say this is epic and you this should get more views

[@paaabl0.]

Great job! Really one of the best dyi projects in the internet (I've seen a lot). Clearly you focus more on building than documenting and making a hype, but it's really worth it! I'd love to see how you decided to develop control algorithm e.g. for jumping? Position approximation over time, velocity control, force control? Simple curve shaping or something like LQR? How do you plan to use feedback from your controllers? It's really great project, community can lear a lot from a fellow talented engineer.

[@Jorgefer88]

Thank you very much for what you say! I spent a long time without posting anything (only on instagram), but I'm trying to make videos from time to time explaining my progress. Currently the movement algorithms are very basic, I haven't been able to dedicate much time to the software yet. All movements are position control, although I would like in the future to be hybrids with speed and torque. I have to look at how to implement the B-spline curves. Currently the feedback from the controllers is closed with the encoder and inverse kinematics, there is not much else.

[@dekutree64]

0:40 That's a brilliant way to keep track of how many turns you've done :) I press a button after each turn to tick up the counter, but that costs time and sometimes I forget to do it. Are the gears printed in nylon or something else? Have you disassembled it to see how they look after the long cycle tests? Is there a good reason that quadruped robots always have 2 segment legs, and not 3 segment like real animals? It seems like 3 segment hind legs would work better, giving a longer stroke for running. The ankle could be mechanically linked to the knee so it doesn't add another actuator or significantly increase inertia of the leg.

[@Jorgefer88]

Before doing that bench that helps me wind, I always got lost, hehe The entire actuator is printed in PLA. I did some tests on nylon and polycarbonate, but I like the result better with PLA because of its rigidity and ease of printing. The actuators that I have disassembled did not show much wear, but I don't know if it will have it later. There are some legged robots with three segments, but on a mechanical level it gets complicated. I think the reason why most quadruped robots are like this is to make them simpler.

[@robertonegrin9001]

Un gran trabajo Jorge. Esas placas de control ¿Las has diseñado tú?

[@Jorgefer88]

Muchas gracias! Si, están diseñadas y soldadas por mi para este proyecto concreto.

[@tadashi_hamada]

Hey Jorge, it looks great. Which stator are you using? The inner diameter looks huge!

[@Jorgefer88]

The stator I use is size 8110

[@RioM808]

Impressive. Love the motor, gear and PCB driver integration. Is the PCB you designed a motor driver (i.e. closed loop type)?

[@Jorgefer88]

Thank you! Yes, the PCB is a motor driver, it is based on the SimpleFOC library.

[@RioM808]

@@Jorgefer88 really really good stuff. Thanks for sharing the video.

[@ptptp7826]

A very well design and dedication 👏. Can you share a bit the motor's controller and how it knows the position?

[@Jorgefer88]

The actuator controller is powered by the SimpleFOC library. I am using a magnetic encoder to know the position of the actuators.

[@parthshaktan]

amazing work

[@jobin8818]

incredible

[@gvozdi000]

Insane work dude! Let me be your padavan :D

[@HorelvisCastilloMendoza]

Excelente trabajo de esfuerzo y paciencia, pero en mi opinion es mejor comprar los actuadores y centrarse en el comportamiento del robot, te puedes tomar toda una vida

[@Jorgefer88]

Muchas gracias! Si, es una de las cosas que haría si empezara desde cero, porque me ha llevado (y me sigue llevando) mucho más tiempo del imaginado. Ahora estoy diseñado y fabricando unos nuevos actuadores de aluminio fresados con una pequeña CNC 😄

[@HorelvisCastilloMendoza]

No has pensado en montar una empresa o solo es hobby ?@@Jorgefer88

[@victorrzhang]

Awesome robot! How did you determine the number of turns that you needed and what size gauge copper to use and get the desired torque? Would appreciate any kind of resources!

[@Jorgefer88]

Thank you so much! I am limited to a maximum of 5A in the driver. That's why I chose the AWG of the cable so that it could handle those amps without getting overheated. From there, try to introduce the greatest number of turns to achieve the greatest possible torque.

[@victorrzhang]

@@Jorgefer88 I see! That's a great idea

[@NakedSageAstrology]

You're amazing.

[@mertavlamaz6708]

What subjects need to be learned to build such a robot? I would be very happy if you tell me

[@gkw1232]

Amazing I like it, I waiting for how this going to run...........

[@sandeepdutta5788]

Thank you for the post, great to see the step by step process. Curious how you created the "Digital Twin" did you convert your design to URDF ? Thank again for the post.

[@Jorgefer88]

Yes, export the model to URDF and integrate the communication with ROS to know the position and thus be able to make that "Digital Twin" 😀

[@franckd4811]

WoW this is a very good job 🎉

[@correiaivan]

Amazing! You can try impedance control to help controlling position and speed at the same time

[@Jorgefer88]

Thank you! Yes, it's one of the things I want to try. But at the moment I'm struggling with other problems to make it work properly :-D

[@cedricmill354]

Awesome! what is the output torque of your actuator with and without the internal planetary gearbox?

[@Jorgefer88]

The torque without the gearbox is around 2N·m. The gearbox is 4:1, so the output shaft torque is about 8N·m at 24V. Raising the voltage up to 32V I have managed to obtain more than 10N·m, but I was at the limit of the PCB, burning a couple of them doing tests 😦

[@leonardoaugusto5491]

Impressive

[@Yabbo06]

amazing

[@SinanAkkoyun]

Those actuators are extremely awesome! What is roughly the theoretical maximum torque? (if you'd assume you used a metal planetary gearbox, just an intuitive estimate)

[@Jorgefer88]

The maximum torque I can currently generate is 8N.m at 24V I have tested the actuators with 32V and they generate 12N.m, but with that voltage my PCBs are not reliable and I have broken them.

[@SinanAkkoyun]

@@Jorgefer88 Oh nice thank you!

[@damianwiecaw492]

You are amazing

[@GuilhermeGomes2]

Man well done

[@GuilhermeGomes2]

Would you be interested in a MSc in research in Ireland to develop this?

[@Jorgefer88]

@@GuilhermeGomes2 Thank you so much!! For personal reasons it would not be possible, but thank you very much for the offer!

[@spelright6370]

I’m curious what is the price of the actuator because you are 3d printing and building them yourself?

[@Jorgefer88]

Commercial actuators with similar features are over $400 each, which is why I have designed and assembled them from scratch with 3D printing. Adding up all the materials to make each actuator, mine cost about $120 each.

[@gianlucadenovi6239]

Hi, what Awg did you use for the winding and how many turns? I am building similar actuators. Thanks.

[@Jorgefer88]

I used Ø0.4mm copper wire and 46 turns in each winding

[@estebanpa7923]

Wow

[@erdenkalilayev3877]

bro im on my budget but can you at least approximately say for how much did u afford to buy resources for that robot?

[@Jorgefer88]

Each complete actuator is around $120. To this we must add the control electronics (intel cpu and raspberry pi 4), battery and other electronics. I estimate that everything will be around $2000

[@rociomercedeszevalloszegar2973]

Hola, Excelente trabajo. Una consulta, ¿Tienes los planos y componentes utilizados para el motor? Yo podría apoyarte con una transferencia, por los archivos y los componentes.

[@Jorgefer88]

Hola, muchas gracias. Actualmente no vendo los actuadores, son prototipos para comprobar si son viables para usarlos en un robot quadrupedo. Un saludo.

[@southafricacppaarl2954]

If you could sell this actuator moto am moe confidence you will have more , buyers and you can change its material that is made from to use aluminum or any metal of your choice that you see it fit to stand for both temperature and strength, the world revolve because people like you inspirer more people on it with this video thank and hope you are hear to stay so that some of us can learn from you

[@Jorgefer88]

Thank you very much for your words! My idea is to learn everything I can from it. I'm working on making it in metal, but it's pretty slow work. In the future you will see the results!

[@PerilousPaddy]

Any links to the 3d files so we can buy them?

[@luisca92]

Are you planning on Open Sourcing this?

[@Jorgefer88]

Not at the moment, I want to see if these prototypes are really functional for the quadruped project and then I'll decide what to do.

[@luisca92]

@@Jorgefer88 I’m a self taught DIY industrial maker, I have 3d printers large CNC mills and lathes as well as industrial arduinos, raspberry Pi, and even Jetson Xavier NX industrial grade modules, industrial motors (dc/ac, stepper, servo) whatever is needed I can get. I’d love to just use materials like aluminum and other processes to just see how far we can get in terms of RD. Whatever sort of collaboration you’d be comfortable with. I don’t share anything I work on with anyone. I just really admire your work and want to collaborate

[@Jorgefer88]

​@@luisca92 I was researching to do it with materials such as steel and aluminum, but I had to get a CNC, learn to use it, more general cost, etc., which took as much air as possible with the 3D printing method. It would be interesting to see the possibility of doing it with other materials, but it should already be with another quadruped, this one is already completely defined and closed for 3D printing. It would be interesting to talk about it later and see if it is possible. Thank you very much for your words, I feel appreciated.

[@damianwiecaw492]

How long process it was for you? i am also working on simillar project but it goes very slow...

[@Jorgefer88]

What you see in the video about two years, including initial research, testing, design iterations, failures, etc. It is a very slow process, but little by little things are coming out. At what point are you?

[@damianwiecaw492]

@Jorgefer88 i have build custom drivers based on esp32 pico v3 now i have some trouble with CAN comunication, i have also built first 3Dof limb with sla 3D printed planetary gearboxes but the resin is too brittle and shards sometimes blocks a gearbox. As a motor i use flycat 5010 and its not that cool, but i was also thinking about making my own 3D printed motors with aliexpress metal core. In case of 3D printing i am afraid of alignment of stator and rotor because the smaller the air gap gets more torque you produce and it function grows really fast as far i know. How can I contact you in the future to exchange some thoughts about the projects?

[@damianwiecaw492]

@Jorgefer88 and another question, how about cooling, will it be integrated on the robot? On the test rig it was auxilarry dc motor that rotates the fan? Constantly increasing temperature of the stator is pain in the ass in case of bldcs...

[@Jorgefer88]

@@damianwiecaw492 Your approach sounds very interesting! There are some controllers with SimpleFOC using ESP32, you can take a look. The resin for gears is not viable, as you say, with the passage of time they fracture, for that better FDM printing. There is a video on KZbin proving just that. The alignment of the rotor with the stator is one of the things that has caused me the most headaches and problems, seriously, many more than imaginable. The final actuator has gone through 15 revisions, and almost all of them to correct the stator centering. As you say, the less air space there is, the more torque is generated, but you have to take into account many aspects such as tolerances, the rigidity of the plastic and the long-term torsion that occurs (that's why I chose PLA and not PETG, Nylon or Polycarbonate). You can contact me if you want to talk about more details in the email that appears on the KZbin channel or on Instagram 😀

[@Jorgefer88]

@@damianwiecaw492 Each actuator has its independent internal ventilation, it is regulated according to the temperature of the coils. The fans comes from graphics card. Plastic is a poor conductor of temperature and if we take into account that from 60 degrees the plastic begins to lose all its rigidity, ventilation is completely necessary 😀

[@Indonesia01ian]

Hi. I am mechanical engineering student I love designing but i didnt have any skill in programming Would you like to recommend me any website/course to program robot from basic? I really hope that the course is focus on project based not a general mathematical equation Do I have to use arduino or something? Thank you so much

[@Jorgefer88]

If you want it to be a complex robot, the most advisable thing would be to learn ROS. ROS is a framework with many useful packages for robotics In addition, it would be advisable to learn Python, most of artificial vision uses Python

[@Indonesia01ian]

@@Jorgefer88 hi Jorgefer88. Thank you so much for your clue I will find that information I hope in the future I can be as good as you

[@davidwang6541]

How much cost to develop your robot project from zero ?

[@Jorgefer88]

I have been making the robot for two years, the total price is over $1500

[@uthvfyrekbnm6008]

Can you give move info about FOC driver? Shematics/code?

[@Jorgefer88]

My driver is very similar to the SimpleFOC shield, which is opensource.

[@gabrieljulioarmandosiagian1921]

What type of stator do you use?

[@Jorgefer88]

The stator I use is size 8110

[@anupamdasrc6970]

do you have a github with your code for the IK and control solution? Also Im working what resoruces you used to build the motor. Is this your own design or from an open-hardware project?

[@Jorgefer88]

I don't have the code posted, sorry. The firmware of the actuators (simpleFOC) and the controller of the walking patterns (Champs) are open source.

[@hidrogenodeuterio]

Hola, me encuentro haciendo un proyecto de robotica, y necesito un controlador para mi actuador, tengo pensado usar motores brushless de Hoverboard pero los controladores que he visto Odrive son demasiado caros, queria saber cuanto costaria el controlador FOC que usas y de que manera se puede obtener

[@Jorgefer88]

Odrive son muy buenos controladores, pero es cierto que son un poco caros. Yo estoy usando un controlador echo por mi basado en el proyecto de código abierto SimpleFOC y el precio de cada placa estaría en torno a los 45€, pero no vendo PCBs. SimpleFOC funciona con mucho hardware compatible y puede llegar a ser muy asequible en precio, te recomiendo que le eches un vistazo ;-)

[@hidrogenodeuterio]

@@Jorgefer88 conocí ese proyecto hace poco, pero no encuentro como comprar sus tarjetas por aliexpress u otro mercado donde las pueda obtener y que realmente cuesten esos 45 euros

[@Jorgefer88]

@user-vc5ny6rn7g Los controladores que yo uso están fabricados y soldados por mi, no los vas a poder encontrar en ningún sitio. En aliexpress por ejemplo hay algunas PCBs que son compatibles con SimpleFOC. Te aconsejo que investigues por su página para ver cuáles modelos podrías usar. Otra opción (que es la que yo hice), fue fabricar PCBs desde cero y hacerlas funcionar con ese Firmware.

[@Jay-bo6lw]

Hi! I wonder what encoder you used

[@Jorgefer88]

I use the AS5047U magnetic encoder

[@КонстантинКлюев-в3б]

How to develop your own process control block? please help me

[@Jorgefer88]

No, firmware of each PCB is based on the SimpleFOC library

[@sandroalcantara6025]

where is the code ?? cad files ?? share please

[@Jorgefer88]

Sorry, at the moment I have not published the code or the 3D files

[@cacerhola]

Muy bueno. Buen trabajo

[@Jorgefer88]

Muchas gracias Carlos. A ver si es posible que nos volvamos a cruzar en alguna feria, me encantaría😉

[@cacerhola]

@@Jorgefer88 Pues la printerparty en Madrid en Marzo. No tienes excusas, jejeje. Estaría muy bien vernos.😀

[@Jorgefer88]

@@cacerhola Dicho y hecho, a ver si puedo asistir y nos contamos que hemos hecho en todo este tiempo 😉

[@tomatoe308]

please a update!

[@Jorgefer88]

I haven't made much progress. As soon as I have news I will post them :-D

[@iputuyuda6748]

can I ask for the program ?

[@Jorgefer88]

Thanks for the comment! My GUI interface is made with rQT and implemented to communicate with the ROS layer

[@iputuyuda6748]

can i get the code ?@@Jorgefer88

[@iputuyuda6748]

at minute 1:36, can you share the code?@@Jorgefer88

[@iputuyuda6748]

at minute 1:36, can you share the code?@@Jorgefer88

[@soyonbormon2104]

will you help me in my project.please.😊

[@tprochon]

Good content but terrible music.

[@meca_p]

Can you share where you buy the magnets and specs?? I'm planning to make my own 3-phase motor and have difficulty in searching that small size magnets..!🥲

[@Jorgefer88]

The largest magnets are 10x5x3 and the smallest are 10x4x1. I have bought them in "superimanes", a Spanish store.

[@meca_p]

@@Jorgefer88 Thank you so much!!! 😊

[@olegdrobot8389]

А поподробнее можна?