This repository contains the complete 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

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

Usage

Developing

Run the app
```
cd app
pnpm run dev
```

Future

See the open issues for a full list of proposed 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

Languages

C++ 79.2%

Svelte 6.7%

Jupyter Notebook 5%

TypeScript 3.5%

C 2.9%

Other 2.6%

readme.md

Spot Micro - Leika

A small quadruped robot, inspired by boston dynamic Spot.

Status

Key Features

Overview