The WAVEGO is a 12-DOF bionic dog-like robot that features 12 2.3kg.cm large torque servos, a reliable structure, and flexible motion, incorporating devices like a front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as a sub-controller for connecting rod inverse solving and gait generation, sharing calculating tasks for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.
Fearures:
- 12 degrees of freedom, the action is more flexible and rich.
- Multi-link leg structure + inverse kinematics algorithm, increasing the servo effective torque.
- ICM20948 9-axis motion tracker, can use self-balancing mode.
- 2.3kg. cm high-torque steering gear, the locked-rotor torque is up to 5.2kg.cm, and the scalability is stronger.
- ESP32 is equipped with an OV2640 camera, which can realize low-latency image transmission with a 2.4G external antenna.
- The structural parts are composed of 5052 aluminum alloy and PA12 nylon parts. There are 40 sets of bearings used in each joint of the whole body, and the structure is firm and reliable.
- Integrate a variety of interactive devices, including a 0.96-inch OLED screen, two RGB-LED indicators, an active buzzer, etc.
- The example code is developed using Arduino IDE, no need to manually configure the compilation environment, ESP32 will automatically establish a WIFI hotspot when it is turned on, you can use a mobile phone (Android/iOS) or computer (Linux/Windows/Mac) to connect and log in to the control page, just install A Chromium-based browser is enough, no app download is required.
- With a charging interface and automatic download circuit, you can use it while charging.
- Support two series 18650 batteries (not included), 5200mAh large capacity, larger output current, and stronger servo power.
- Onboard lithium battery protection circuit, with anti-overcharge, anti-over-discharge, anti-over-current, and short-circuit protection functions.
- The onboard AINA219 acquisition chip is convenient for real-time monitoring of battery voltage and charging current.
- 2*5P expansion interface is reserved for the remaining IO and serial port of ESP32. The functions include RGB expansion, RX0, TX0, G21, G15, G12, 3V3, 5V, and GND, which can be used to communicate with the host computer or connect to other devices.
- The Raspberry Pi can be installed as the upper computer to communicate with the lower computer through the serial port. As the lower computer, ESP32 can share a lot of computing power of the rod inverse solving and gait generation, leaving more resources for the Raspberry Pi for high-level function development.
- The Raspberry Pi kit is equipped with a cooling fan and an ultra-wide-angle lens. The Raspberry Pi routine includes a web application developed based on Flask-Streaming, which can use the functions developed based on OpenCV such as face recognition/color tracking/motion detection.
- All codes are open source and provide rich development documents and tutorials.