Darkages/SpotMicroESP32-Leika
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Fixed Grammatical Errors and updated documentation.

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TitanDynamics
2025-03-20 19:14:47 -04:00
committed by Rune Harlyk
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commit e0d3912d83
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readme.md
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<br />
Spot Micro - Leika 🐕
</h1>
<h4>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 Dynamics <a href="https://bostondynamics.com/products/spot/" target="_blank">Spot</a>.</h4>
<p>
<a href="docs/readme.md"><strong>Explore the docs »</strong></a>
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## 📜 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.
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 I/O, 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.
## 🎯 Features
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### 🎮 Controller
The controller is a svelte app, which get embedded in the firmware of the robot.
Which mean that new releases and OTA updates includes the latest controller.
The controller is a Svelte app, which get embedded in the firmware of the robot.
Which means that new releases and OTA updates include the latest controller.
The controller includes full control over robot settings like network and calibration, and a visualization.
@@ -113,11 +113,11 @@ The kinematic for the robot is from this [kinematics paper](https://www.research
## 🏁 Motion state controller
The motion controller is a finite state machine with state allowing for static and dynamic posing, 8-phase crawl and bezier based trot gait, and choreographed animation.
The motion controller is a finite state machine with states allowing for static and dynamic posing, an 8-phase crawl, Bezier-based trot gait, and choreographed animation.
### Controller Input Mapping
The controller input is interpret different between the modes. For the walking it it looks like this:
The controller input is interpreted differently between the modes.
| Controller Input | Mapped to Gait Step | Range |
| ---------------- | ------------------- | ------- |
@@ -175,7 +175,7 @@ Rotation is calulated using the same curve
## 🚀 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).
See the [project backlog](https://github.com/users/runeharlyk/projects/3) and [open issues](https://github.com/runeharlyk/SpotMicroESP32-Leika/issues) for a full list of proposed and active features (and known issues).
## 🙌 Credits
@@ -191,7 +191,7 @@ This project takes great inspiration from the following resources:
## ☕ Support
If you like the project and want to follow it evolving concidering ✨-ing the project
If you like the project and want to follow its evolution, consider ✨-ing the project
<a href="https://bmc.link/runeharlyk" target="_blank"><img src="https://www.buymeacoffee.com/assets/img/custom_images/purple_img.png" alt="Buy Me A Coffee" style="height: 41px !important;width: 174px !important;box-shadow: 0px 3px 2px 0px rgba(190, 190, 190, 0.5) !important;-webkit-box-shadow: 0px 3px 2px 0px rgba(190, 190, 190, 0.5) !important;" ></a>