Mike Rigsby
Published © GPL3+

Mike's Robot Dog

Boston Dynamics' robot dog, Spot Mini is unavailable at any price. A Chinese copy is $30,000. Cut 99% of the cost and build one at home.

ExpertWork in progress12,700
Mike's Robot Dog

Things used in this project

Hardware components

High torque servo motors
https://www.amazon.com/LewanSoul-LD-20MG-Standard-Digital-Aluminium/dp/B073F92G2S/ref=sr_1_5?ie=UTF8&qid=1519591645&sr=8-5&keywords=servo+motor&dpID=41Um3gQkFJL&preST=_SY300_QL70_&dpSrc=srch
×12
350 farad capacitor
https://www.digikey.com/product-detail/en/maxwell-technologies-inc/BCAP0350-E270-T11/1182-1016-ND/3079280
×3
Snowmobile bearings
https://www.amazon.com/Snowmobile-Bearing-6004-2RS-20x42x12-Bearings/dp/B002BBGPCS/ref=sr_1_1?ie=UTF8&qid=1519591731&sr=8-1&keywords=bearing+snowmobile&dpID=51A0hnC8SRL&preST=_SX342_QL70_&dpSrc=srch
×8
Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1

Software apps and online services

Arduino IDE
Arduino IDE

Story

Read more

Custom parts and enclosures

Thingiverse

https://www.thingiverse.com/thing:2793101

Schematics

Schematic

Code

leg_test022718.ino

Arduino
No preview (download only).

leg_test031018.ino

C/C++
Four leg lift
#include <Servo.h>

Servo upper;
Servo lower;
Servo rotate;

Servo rupper;//right upper servo
Servo rlower;//right lower servo
Servo rrotate;//right sideways servo

Servo lrupper;
Servo lrmid;
Servo lrlower;

Servo rrupper;
Servo rrmid;
Servo rrlower;

int a=28;//rupper sit position 29
int b=36;//rlower leg sit position 38
int c=148;//upper sit left 146
int d=44;//lower sit left 48
int e=52;//rrupper sit 55
int f=36;//rrlower sit 24
int g=125;//lrupper sit 125
int h=42;//lrlower sit 47

int j=57;//rupper end for stand
int k=150;//timer increment




int ud=0;//0 for sit and 1 for stand
int countup=0;//counter to delay right front a bit

void setup() {
 upper.attach(1);
 lower.attach(3);
 rotate.attach(2);
 rupper.attach(4);
 rlower.attach(6);
 rrotate.attach(5);

 lrupper.attach(10);
 lrmid.attach(11);
 lrlower.attach(12);

 rrupper.attach(7);
 rrmid.attach(8);
 rrlower.attach(9);
 

 upper.write(c);
 lower.write(d);
 rotate.write(80);
 rupper.write(a);
 rlower.write(b);
 rrotate.write(86);//80

 lrupper.write(g);
 lrmid.write(80);
 lrlower.write(h);

 rrupper.write(e);
 rrmid.write(89);//83
 rrlower.write(f);
 
 
 delay(10000);
 //delay(500000);
 
 
 
 
 

}

void loop() {
while (e<82) {//a<j
  a=(a+1);
  b= (b+2);
  c=(c-1);
  d=(d+2);
  e=(e+1);
  f=(f+2);
  g=(g-1);
  h=(h+2);

  upper.write(c);
 lower.write(d);
 rotate.write(80);
 rupper.write(a);
 rlower.write(b);
 rrotate.write(80);

 lrupper.write(g);
 lrmid.write(74);//80
 lrlower.write(h);

 rrupper.write(e);
 rrmid.write(86);//83
 rrlower.write(f);

 delay(k);
}

delay(500000);
delay(500000);
  
}
  

Credits

Mike Rigsby

Mike Rigsby

5 projects • 21 followers
I am an author and a maker. Current projects include Santa's Shop and Little Friend (ultracapacitor powered robot) on hackaday.io.

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