Spot Micro - Leika

A small quadruped robot, inspired by boston dynamic Spot.

Key Features • Overview • Documentation • Credits • License

Status

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

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. 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

You can find the current steps to get a fresh new doggo up and barking on /docs

Software

You can find a description for the current esp32 firmware and controller here.

Kinematics

The kinematic for the robot is from this kinematics paper. A C++ and TypeScript library was written to enable onboard calculation and fast development iteration using the robot mirroring.

Getting started

Clone and open the new project

git clone https://github.com/runeharlyk/SpotMicroESP32-Leika

Install dependencies with preferable package manager (npm, pnpm, yarn)
```
cd app
pnpm install
```
Configure device settings
1. Update factory_settings.ini with relevant settings
Upload filesystem image using platformIO
Upload firmware using platformIO

Future

See the project backlog and open issues for full list of proposed and active features (and known issues).

Credits

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

License

MIT

runeharlyk.dk · GitHub @runeharlyk · LinkedIn @Rune Harlyk

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