This highly flexible quadruped robot dog features a 2.3kg.cm high-torque motor with a reliable structure and agile movement. It integrates a camera, a 9-axis motion tracker, and RGB components. The system is open-source and supports web applications across platforms. An ESP32 microcontroller handles inverse kinematics and real-time control, while a Raspberry Pi can be used as an upper-tier controller for advanced decision-making. This design allows for efficient computational distribution between the two systems.

Features

• 12 Degrees of Freedom: Multi-link leg design enhances the robot’s efficiency and agility.
• Real-Time Operating System: The lower-tier system handles inverse kinematics and movement generation, optimizing the upper-tier processor’s efficiency.
• Compact Design: Lightweight yet durable, built with aluminum alloy and nylon material, ensuring strength while reducing weight, suitable for tabletop use.
• Raspberry Pi Compatibility: Supports advanced OpenCV functions like facial recognition, motion detection, and color tracking. Pre-configured for secondary development with extensive documentation and development interfaces.

Parameters

• Product Name: WAVEGO High-Flexibility Quadruped Robot Dog
• Standing Dimensions: 218mm 116mm 152mm
• Crouching Dimensions: 228mm 116mm 127mm
• Weight:
  • Basic Version: 465g (with battery)
  • Upgraded Pi4 Version: 554g (with battery)
• Degrees of Freedom: 12 total, 3 per leg

Operating System:

• Supported Systems: FreeRTOS + Raspbian OS

Motion Capabilities:

• Supported Actions: Handshake, Standing, Slow Kneeling, Diagonal Walking, Jumping, Self-Balancing
• Motion Expansion: Programmable examples with Bzier curve functions for speed and motion control.

• Maximum Load:

  • Basic Version: 300g
  • Upgraded/Raspberry Pi 4 Version: 200g

Servo Motor Specifications:

• Dimensions: 23.2 12.1 25.25 mm
• Weight: 13.0 1g
• Operating Voltage: 6V
• No-load Speed: 0.1 sec/60 (100 RPM)
• Stall Torque: 2.3 kg.cm (31.99 oz.in)
• Rated Load: 0.7 kg.cm
• Rated Current: 350mA
• Control System Type: Digital Comparator
• Control Method: Pulse Width Modification

Vision Capabilities:

• FreeRTOS Example: Real-time video streaming via web
• Raspbian OS Example: Real-time video streaming, face detection, color tracking, and moving object detection
• Note: All code is open-source. Raspbian OS examples use flask-streaming and OpenCV for development.

Processor and Memory:

• Processor: Xtensa LX6 dual-core CPU @ 240MHz
• ESP32 (Lower Tier):
  • SRAM: 520KB + 8MB
  • Flash: 448KB + 4MB

Additional Specifications:

• Wi-Fi Standard: 802.11b/g/n
• Bluetooth Standard: Bluetooth 4.2 (Includes BR/EDR and BLE support)
• Expansion Ports: 2 5P multifunctional expansion ports (for communication, power, or modular assembly)
• External Interfaces:
  • DC Charging Port
  • Type-C (for downloads, communication, and accessory expansion)

Power Specifications:

• Battery Type: 18650 Li-ion Battery
• Power Supply Voltage: 7-8.4V
• Charging Voltage: 8.4V
• Battery Capacity: 2600mAh
• Protection: Overcharge, over-discharge, overcurrent, short circuit, reverse polarity protection, and balanced charging
• Output Voltage: 5V (for powering other control boards)