Rune Harlyk
129 lines
5.0 KiB
Markdown
129 lines
5.0 KiB
Markdown
<h1 align="center">
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<br />
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<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika">
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<img src="https://raw.githubusercontent.com/runeharlyk/SpotMicro-Leika/main/assets/logo.jpg" alt="Leika" width="350">
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</a>
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<br>
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Spot Micro - Leika
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</h1>
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<h4 align="center">A small quadruped robot, inspired by boston dynamic <a href="https://bostondynamics.com/products/spot/" target="_blank">Spot</a>.</h4>
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<p align="center">
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<a href="#key-features">Key Features</a> •
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<a href="#overview">Overview</a> •
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<a href="#getting-started">Documentation</a> •
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<a href="#credits">Credits</a> •
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<a href="#license">License</a>
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</p>
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<!-- GIF
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 -->
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## Status
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<div style="display:flex;gap:20px">
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[](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/frontend-tests.yml)
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[](https://github.com/runeharlyk/SpotMicroESP32-Leika/actions/workflows/embedded-build.yml)
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</div>
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## Key Features
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* Live preview - Make changes, See changes
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* Real time data
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* Camera live stream, sensors, analytics, etc
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* Full kinematic model
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* Dual joystick controller
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* Robot mirroring visualization
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* Highly customizable
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* Self hosted, self included
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<!-- * Servo calibration tool -->
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## Overview
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This repository contains the source code for a Spot Micro quadruped robot.
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Execution of the software takes place on a ESP32 cam, which runs various number of FreeRTos task for seamless robotic operations.
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By focusing on practicality and simplicity in both hardware and software, it offer an accessible platform for learning, experimentation, and modest real-world applications.
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### Documentation
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You can find the current steps to get a fresh new doggo up and barking on [/docs](docs/readme.md)
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1. [Components](docs/1_components.md)
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1. [Assembly](docs/2_assembly.md)
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1. [Software](docs/3_software.md)
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1. [Turning on for the first time](docs/4_configuring.md)
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1. [Running](docs/5_running.md)
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1. [Developing](docs/6_developing.md)
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1. [Contributing](docs/7_contributing.md)
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#### Software
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You can find a description for the current esp32 firmware and controller [here](docs/software_description.md).
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<img src="images/controller.gif" alt="controller" width="500">
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## Kinematics
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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.
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## Getting started
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1. Clone and open the new project
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```sh
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git clone https://github.com/runeharlyk/SpotMicroESP32-Leika
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```
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1. Install dependencies with preferable package manager (npm, pnpm, yarn)
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```sh
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cd app
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pnpm install
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```
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1. Configure device settings
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1. Update `factory_settings.ini` with relevant settings
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1. Upload filesystem image using platformIO
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1. Upload firmware using platformIO
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## Future
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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).
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## Credits
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This project takes great inspiration from the following resources:
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1. [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro)
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1. [Kinematics](https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot)
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1. [ESP32SvelteKit template](https://github.com/theelims/ESP32-sveltekit)
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1. [SpotMicro ESP32 - Maarten Weyn](https://github.com/maartenweyn/SpotMicro_ESP32)
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1. [SpotMicroAi](https://gitlab.com/public-open-source/spotmicroai)
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1. [Spot Micro - Leika](https://github.com/runeharlyk/SpotMicro-Leika/tree/main)
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1. [NightDriverStrip](https://github.com/PlummersSoftwareLLC/NightDriverStrip)
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## Support
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If you like the project and want to follow it evolving concidering ✨-ing the project
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<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>
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## You may also like...
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* [Spot Micro Quadruped Project - mike4192](https://github.com/mike4192/spotMicro) - Great ROS based project
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* [SpotMicroAi](https://gitlab.com/public-open-source/spotmicroai) - Group repository with simulations and runtimes
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## License
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[MIT](LICENSE.md)
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---
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> [runeharlyk.dk](https://runeharlyk.dk) ·
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> GitHub [@runeharlyk](https://github.com/runeharlyk) ·
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> LinkedIn [@Rune Harlyk](https://www.linkedin.com/in/rune-harlyk/)
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