Spot Micro - Leika

A small quadruped robot, inspired by boston dynamic Spot.

Key Features • Overview • Getting started • Credits • License

Status

Key Features

• Live preview - Make changes, See changes
• Real time data sync
• Dual joystick controller
• Dark/Light mode
• Full screen mode
  • Immersive, distraction free.
• Self hosted, self included

Overview

This repository contains the complete source code for a Spot Micro quadruped robot. Execution of the software takes place on a ESP32 cam, which runs various number of FreeRTos task for seamless robotic operations. By focusing on practicality and simplicity in both hardware and software, it offer an accessible platform for learning, experimentation, and modest real-world applications.

Electronics

• ESP32 cam - Brain
• OV2640 160° - Camera
• PCA9685 - Servo board
• 12x 20kg(or higher) servo motors
• MPU6050 - Inertial measurement unit
• GY-271 - Magnetometer
• SZBK07 - 20A DC-DC Buck Converter
• LM2596 or XL4015 - DC-DC Stepdown Module
• 2x HC-SR04 - Ultrasonic Distance Sensor
• 0.96" SD1306 - OLED diplay
• ACS712 - Current sensor
• ADS1115 - 16 bit analog to digital converter
• Power button w/ led
• 4x 18650 Li-ion battery in 2P2S configuration
• Couple of resistors (10K, 47.7k, 33K)
• 4x Servo extension cables

Connection Diagram

Body

The robots is 3D printed and is a combination of different Spot Micro designs, with some minor modification on top. The original design is developed by KDY0523.

• robjk reinforced shoulder remix
• Kooba SpotMicroESP32 remix
• KDY0532 original design

The 3D prints is assembled with some additional component:

• 84x M2x8 screws + M2 nuts
• 92x M3x8 screws + M3 nuts
• 64x M3x20 screws + M3 nuts
• 12x 625ZZ ball bearings

Software

The software make use of a range of different libraries to enhance the functionality. Up to date list can be seen in platformio.ini file. The libraries includes:

• Esp32SvelteKit
• PsychicHttp
• ArduinoJson
• Adafruit SSD1306
• Adafruit GFX Library
• Adafruit BusIO
• Adafruit PWM Servo Driver Library
• Adafruit ADS1X15
• Adafruit HMC5883 Unified
• Adafruit Unified Sensor
• UrlEncode
• MPU6050 light
• SPI

Structure

The software utilizes a couple of FreeRTos task | Task | Description | Priority | Core | --- | --- | --- | --- | Idle0 task | Burns cpu time to track cpu usage for core 0 | 0 | 0 | Idle1 task | Burns cpu time to track cpu usage for core 1 | 0 | 1 | Spot service task | Handle synchronous services | 2 | 0

Feature flags

To dis-/enable the major feature I use defines. Define them in either featureflags.h or in platformio.ini's build_flags. | Feature | Description | Default | --- | --- | --- | FT_BATTERY | Whether or not to use battery | 0 | FT_NTP | Whether or not to use time server | 1 | FT_SECURITY | Whether or not to use login system | 0 | FT_MQTT | Whether or not to use MQTT | 0 | FT_SLEEP | Whether or not include sleep management | 0 | FT_UPLOAD_FIRMWARE | Whether or not to use OAT | 1 | FT_DOWNLOAD_FIRMWARE | Whether or not to use github for firmware updates | 1 | FT_ANALYTICS | Whether or not to use analytics service | 1 | TF_MDNS | Whether or not to use MDNS | 1 | TF_DNS_SERVER | Whether or not to use DNS server | 1 | TF_MPU | Whether or not to use MPU | 1 | TF_POWER_BUTTON | Whether or not to use power button | 1 | TF_USS | Whether or not to use ultra sonic sensors | 1

📲Web application

The web application is a simple Svelte app, which main focus is to calibrate and control the robot.

It is made to be included and hosted by the robot. Therefore there is placed a lot of thought behind the functionality and dependencies.

Development dependencies

For the development dependencies I choose the following

| Vite compression plugin | This plugin compresses the index.html file making the final footprint a lot smaller.

Libraries

For the app functionality I choose the following:

Kinematics

The kinematic for the robot is from this kinematics paper

Getting started

1. Clone and open the new project

   git clone https://github.com/runeharlyk/SpotMicroESP32-Leika
   

2. Install dependencies

   cd app
   pnpm install
   

3. Configure device settings

   1. Update factory_settings.ini with relevant settings

Usage

Developing

1. Run the app

   pnpm run dev
   

Building

1. Build the app

   pnpm run build
   

2. Upload Filesystem Image using platformIO

Future

See the open issues for a full list of proposed features (and known issues).

Credits

This project takes great inspiration from the following resources:

1. Spot Micro Quadruped Project - mike4192
2. Kinematics
3. ESP32SvelteKit template
4. SpotMicroAi
5. Spot Micro - Leika
6. NightDriverStrip

Support

You may also like...

• Spot Micro Quadruped Project - mike4192 - Great ROS based project
• SpotMicroAi - Group repository with simulations and runtimes

License

MIT

runeharlyk.dk  ·  GitHub @runeharlyk  ·  LinkedIn @Rune Harlyk