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<h1 align="center">
<br />
<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika">
<img src="https://raw.githubusercontent.com/runeharlyk/SpotMicro-Leika/main/assets/logo.jpg" alt="Leika" width="350">
</a>
<br>
Spot Micro - Leika
</h1>
<div align="center">
<h1>
<br />
<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika">
<img src="https://raw.githubusercontent.com/runeharlyk/SpotMicro-Leika/main/assets/logo.jpg" alt="Leika" width="350">
</a>
<br>
Spot Micro - Leika 🐕
</h1>
<h4 align="center">A small quadruped robot, inspired by boston dynamic <a href="https://bostondynamics.com/products/spot/" target="_blank">Spot</a>.</h4>
<h4>A small quadruped robot, inspired by boston dynamic <a href="https://bostondynamics.com/products/spot/" target="_blank">Spot</a>.</h4>
<p align="center">
<a href="#key-features">Key Features</a> •
<p>
<a href="#overview">Overview</a> •
<a href="#features">Key Features</a> •
<a href="#getting-started">Documentation</a> •
<a href="#credits">Credits</a> •
<a href="#license">License</a>
</p>
<!-- GIF
![screenshot](https://raw.githubusercontent.com/runeharlyk/SpotMicro-Leika/main/assets/logo.jpg) -->
## Status
<div style="display:flex;gap:20px">
[![Frontend Tests](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.yml/badge.svg)](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.yml)
[![PlatformIO CI](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/embedded-build.yml/badge.svg)](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/embedded-build.yml)
</div>
<!-- GIF ![screenshot](https://raw.githubusercontent.com/runeharlyk/SpotMicro-Leika/main/assets/logo.jpg) -->
## Key Features
* Live preview - Make changes, See changes
* Real time data
* Camera live stream, sensors, analytics, etc
* Full kinematic model
* Dual joystick controller
* Robot mirroring visualization
* Highly customizable
* Self hosted, self included
<!-- * Servo calibration tool -->
## Overview
This repository contains the source code for a Spot Micro quadruped robot.
Execution of the software takes place on a ESP32 cam, which runs various number of FreeRTos task for seamless robotic operations.
## 📜 Overview
Leika is a smaller quadruped robot for the Spot-Micro community.
Built on an ESP32 and powered by FreeRTOS, she can handle multiple tasks seamlessly - Like video and data streaming, solving kinematic and gait planning, controlling IO and much more.
By focusing on practicality and simplicity in both hardware and software, it offer an accessible platform for learning, experimentation, and modest real-world applications.
### Documentation
## 🎯 Features
* **Live Preview**: Instant feedback with real-time updates.
* **Real-Time Data**: Stream camera feeds, monitor sensors, and analyze data on the fly.
* **Kinematic Precision**: Full kinematic model for accurate movements.
* **Dual joystick controller**
* **Robot mirroring visualization**
* **Highly customizable**
* **Self-Hosted**: Complete autonomy, from code to execution.
<!-- * Servo calibration tool -->
### 🎮 Controller
<img src="images/controller.gif" alt="controller" width="500">
### 🛠️ Documentation
You can find the current steps to get a fresh new doggo up and barking on [/docs](docs/readme.md)
1. [Components](docs/1_components.md)
1. [Assembly](docs/2_assembly.md)
1. [Software](docs/3_software.md)
1. [Turning on for the first time](docs/4_configuring.md)
1. [First-time setup](docs/4_configuring.md)
1. [Running](docs/5_running.md)
1. [Developing](docs/6_developing.md)
1. [Contributing](docs/7_contributing.md)
#### Software
#### 🎮 Software
You can find a description for the current esp32 firmware and controller [here](docs/software_description.md).
<img src="images/controller.gif" alt="controller" width="500">
## Kinematics
<!--## 🧠 Kinematics
The kinematic for the robot is from this [kinematics paper](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot). A C++ and TypeScript library was written to enable onboard calculation and fast development iteration using the robot mirroring.
-->
## Getting started
## 🔮 Getting started
1. Clone and open the new project
@@ -90,11 +86,11 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
1. Upload firmware using platformIO
## Future
## 🚀 Future
See the [project backlog](https://github.com/users/runeharlyk/projects/3) and [open issues](https://github.com/runeharlyk/SpotMicroESP32-Leika/issues) for full list of proposed and active features (and known issues).
## Credits
## 🙌 Credits
This project takes great inspiration from the following resources:
@@ -106,7 +102,7 @@ This project takes great inspiration from the following resources:
1. [Spot Micro - Leika](https://github.com/runeharlyk/SpotMicro-Leika/tree/main)
1. [NightDriverStrip](https://github.com/PlummersSoftwareLLC/NightDriverStrip)
## Support
## ☕ Support
If you like the project and want to follow it evolving concidering ✨-ing the project
@@ -117,7 +113,7 @@ If you like the project and want to follow it evolving concidering ✨-ing the p
* [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro) - Great ROS based project
* [SpotMicroAi](https://gitlab.com/public-open-source/spotmicroai) - Group repository with simulations and runtimes
## License
## 📃 License
[MIT](LICENSE.md)