K3lso Quadruped is similar to MIT mini cheetah and MIT Cheetah
More updates to come.
A big milestone for me! I started this project about 7 months ago and today is the first time #k3lso stands on his own 4 feets!
This project has included many late nights and literally all my own free time (and will continue to do so) 
The consumption is 1A @36v for stand.
More to come later on!
the specs:
Acuator peak torque: 54Nm
Robot target weight: 18kg (at the moment 16.9kg without cover, battery included)
Onboard computer: UP Xtreme i7C1-8565U running Ubuntu 18.04
Modifed kernel: 5.4.65 with PREEMPT_RT patch and full control for GPIO header.
CAN: PCAN-M.2 4 Channels
Loop frequency / motor : 1KHz
Battery: 10S3P 9000mAh (1.5KG)
Body structure: 7075 aluminium
Legs: Milled Carbon Fiber
Knee transmission: Chain with mechanical advantage of 1.4.
Voltage: 10S
If you like to see more progress on my build you can follow me on Twitter: R_frojd
Video:
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I made a gif just to get people excited.
I gotta say watching this project progress on Twitter is the highlight of my day. Keep up the great work.
Gonna be honest, that clip of rviz and linux running on a switch has me thinking of buying a gaming console more than I’ve ever considered before. Although, I wish the joycons analog sticks used a different potentiometer tech. Do you have a particular link or reference you used to partition/boot a ubuntu kernel on the switch? Or am I seeing something akin to VNC?
Could that be minimized, say by changing the resting posture? E.g. straightening the legs vertically, like any mammal herbivore would when locking it’s knees to sleep upright.
Thanks!
ubuntu on swtich:
L4T Ubuntu - A fully featured linux on your switch | GBAtemp.net - The Independent Video Game Community
minimized consumption:
Maybe. this was just a quick test to get some data. Even tho I am quite happy with 1A.
Very cool robot! I look forward to following future progress.
Quick question for the uninitiated - what’s the end goal of this project? Commercialization? Open source? Research? Or is it a one off hobby project?
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Thanks! Its mostly for fun/hobby. But I guess it will be open source in the end. 
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Testing the Hyper HV BEC (GSR-6005MD) which will supply power for the #UPXtreme. Getting a bit warm, need to test it out a bit more 
#k3lso #quad #quadruped #robotics #ros #mjbots https://twitter.com/r_frojd/status/1385270275302957058/photo/1
UP Vision Plus X with PCAN-miniPCIe FD. Adapter cables for #JST PH3 ready!
#k3lso #quad #quadruped #robotics #UPXtreme #Ubuntu #ROS #PCAN #intel #realsense #canbus #peak #mit #UPVision https://twitter.com/r_frojd/status/1385214802272964609/photo/1
First time we hit #5kHz in performance mode on the #UPXtreme tested on
1 motor/ 1 channel!
#quadruped #robotics #k3lso #ros #canbus #mjbots #quad https://twitter.com/r_frojd/status/1385236702034382851/photo/1
Top cover mold plug for CF in progress
First joint reading testing over ROS and rviz
Test fitted some of the new parts and took the opportunity to give him a belly rub. Good good boy 
#k3lso #quad #quadruped #robotics #ros #mjbots #MIT #cheetah #bldc #realsense #d435 #design #fusion360 #UPXtreme #ros #leggedrobotics #bostondynamics #spot #laikago #prototype https://twitter.com/r_frojd/status/1389337455036440579/photo/1
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Front cameras and right side camera testing outside! as one can see the right side camera overlap with front cameras at around 2m from the robot. Giving the robot a very small blindspot.
Video: K3lso vision testing outside - YouTube
#k3lso #quad #quadruped #robotics #UPXtreme #ROS #Ubuntu #MIT #realsense #intel #d435 #d455
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a little weightlifting 
#UPXtreme is included at 0.6A at #k3lso is approximately 17kg net weight. Voltage is configured at 36v.
Payload
3kg = 1.67A
6kg = 1.91A
10kg = 2.35A (video)
#quadruped #quad #robotics #ros #leggedrobotics #mjbots https://twitter.com/r_frojd/status/1394041031235096584/video/1
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