Spidey-Quadruped

Spidey: A 12 DOF Sprawling-Type Quadruped Robot

Hardware:

• Raspberry Pi 4
• Adafruit 16-Channel 12-bit PWM/Servo HAT
• MG90 Servos
• 20A Buck Converter
• 18650 Cells

Software:

• Controlled via trajectory interpolation and inverse kinematics (the inverse kinematics solver is based on https://github.com/JasonJZLiu/Kinematic-Tree-IK-Solver)
• Simulated in Nvidia Isaac Sim and Drake
• Walking tested on the real robot! (Video Link)

spidey_v2_walking.mp4

spidey_turning.mp4

TODO:

• Enable bluetooth remote control
• Clean up code (comments + docstrings)