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Python-Quadruped

A project to create working python code for a eight servo Quadruped (two servos per leg) with a Raspberry Pi Zero or Zero W as the control board. This project is not complete and has not been tested.

The aim is to use a Raspberry Pi Zero (or Zero W), a pwm expansion board and a forward facing distance sensor to program a Quadruped for autonomous movement. The movement will follow the right-hand rule to navigate an entire room (or space), acomplish object avoidance (in the forward facing space), and the intention is to eventually use this data to create a basic text map of a space.

If you're new to drones or coding, I would highly encourage the research before you get into a project like this, although it's a lot of fun and a good chance to learn. Personally, I would highly recommend against a quadcopter or flying vehicle as a first project. While it may look more fun and exciting, you do sacrifice stability and longevity for maneuverability so just keep that in mind. It’s also a lot easier to crash a flying vehicle :P.

Hardware

  • The frame used for this project is a 3d-printed quadruped, FatKame by Blomdoft, which may be found on thingiverse. I do not own nor maintain the Kame projects on thingiverse. There are plenty of re-mixes/re-designes out there, as well as alternatives if this specific project isn't your cup of nice warm tea.
  • The control board used is a Raspberry Pi Zero with a WiFi dongle. A Pi 2/3/Zero W could be used interchangably, this is just what I had on hand.
  • The pwm expansion board is a 16 channel Adafruit I2C interface module.
  • The distance sensor used is a Ultrasonic Module HC-SR04.
  • The servos used are SG90 Micro Servo Motor 9G. Two per leg for a total of 8 servos.

Servo Mapping

  • The Servos are mapped in a clock pattern, with 12'oclock facing forward with the quadruped. The primary servo is designated as 'A' while the secondary (leg) servo is designated as 'B'.
  • Front Right Servos: 1A/1B
  • Rear Right Servos: 2A/2B
  • Rear Left Servos: 3A/3B
  • Front Left Servos: 4A/4B

Credits and Resources

Disclaimer

This project comes with no waranty and the owners do not claim to own or maintain any refrenced projects. Use at your own risk.

Working on

  • Add to install script - Raspberry Pi enable GPIO pins
  • Add to python code - Right turn function on distance sensor trigger, function and call