Rune Harlyk
212 lines
8.3 KiB
Markdown
212 lines
8.3 KiB
Markdown
<div align="center">
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<h1>
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<a href="https://github.com/runeharlyk/SpotMicroESP32-Leika">
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<img src="images/leika.jpg" alt="Leika" width="450">
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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>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>
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<a href="docs/readme.md"><strong>Explore the docs »</strong></a>
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<!-- <br/> -->
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<!-- <a href="#overview">Overview</a> •
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<a href="#features">Key Features</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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[](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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## 📜 Overview
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Leika is a smaller quadruped robot for the Spot-Micro community.
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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.
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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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## 🎯 Features
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- **Live Preview**: Instant feedback with real-time updates.
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- **Real-Time Data**: Stream camera feeds, monitor sensors, and analyze data on the fly.
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- **Kinematic Precision**: Full kinematic model for accurate movements.
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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**: Complete autonomy, from code to execution.
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<!-- * Servo calibration tool -->
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## 📐 Robot specifications
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### 🌊 Robot control flow
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The robots is implemented using a sense, plan, act control flow.
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## 🦾 Kinematics
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To enable complex movements, it's beneficial to be able to describe the robot state using a world reference frame, instead of using raw joint angles.
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The robot's body pose in the world reference frame is represented as
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$$T_{body}=\left[x_b,y_b,z_b,\phi, \theta,\psi\right]$$
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Where
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- $x_b, y_b, z_b$ are cartesian coordinates of the robot's body center.
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- $\phi, \theta,\psi$ are the roll, pitch and yaw angles, describing the body orientation.
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The feet positions in the world reference frame are:
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$$P_{feet}=\\{(x_{f_i},y_{f_i},z_{f_i})|i=1,2,3,4\\}$$
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where $x_{f_i}, y_{f_i}, z_{f_i}$ are cartesian coordinates for each foot $i$.
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Solving the inverse kinematics yields target angles for the actuators.
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<!-- Write about the calculation, rotation matrix and trig -->
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<!-- L1, L2, L3, L4, L, W -->
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<!-- $$
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R_{body} =
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\begin{bmatrix}
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\cos\psi\cos\theta & \cos\psi\sin\theta\sin\phi - \sin\psi\cos\phi & \cos\psi\sin\theta\cos\phi + \sin\psi\sin\phi \\
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\sin\psi\cos\theta & \sin\psi\sin\theta\sin\phi + \cos\psi\cos\phi & \sin\psi\sin\theta\cos\phi - \cos\psi\sin\phi \\
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-\sin\theta & \cos\theta\sin\phi & \cos\theta\cos\phi
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\end{bmatrix}
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$$ -->
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### 🎮 Controller
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The controller is a svelte app, which get embedded in the firmware of the robot.
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Which mean that new releases and OTA updates includes the latest controller.
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The controller includes full control over robot settings like network and calibration, and a visualization.
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<img src="images/controller.gif" alt="controller" width="500">
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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. [First-time setup](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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<!--## 🧠 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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-->
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## 🏁 Motion state controller
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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.
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### Controller Input Mapping
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The controller input is interpret different between the modes. For the walking it it looks like this:
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| Controller Input | Mapped to Gait Step | Range |
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| ---------------- | ------------------- | ------- |
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| Left x joystick | Step x | -1 to 1 |
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| Left y joystick | Step z | -1 to 1 |
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| Right x joystick | Step angle | -1 to 1 |
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| Right y joystick | Body pitch angle | -1 to 1 |
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| Height slider | Body height | 0 to 1 |
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| Speed slider | Step velocity | 0 to 1 |
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| S1 slider | Step height | 0 to 1 |
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| Stop button | E stop command | 0 or 1 |
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<!-- ### Static and dynamic posing -->
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### 8-phase crawl gait
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The 8-phase crawl gait works by lifting one leg at a time while shifting its body weight away from the leg.
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As the name implies, the gait consist of 8 discrete phases, which represents which feet should be contact the ground or be in swing.
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At each time step the phase time $t\in [0,1]$ is updated. When $t\geq 1$ the phase index is updated and phase time is reset.
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Is derived from [mike4192 spotMicro](https://github.com/mike4192/spotMicro)
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### Trot gait (12 point bezier curve)
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The trot gait implements a phase time $t\in[0,1]$, but instead of using contact phases we define a swing/stance ratio of phase time offset for each leg.
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The stance controller implements a sin curve to control the depth of steps.
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The swing controller implements a bezier curve using 12 control points centered around the robot leg.
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Rotation is calulated using the same curve
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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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