Ceasar ESP32

Quadruped controller for Spot Micro using ESP32. Includes controller firmware for ESP32, calibration utility to help build the robot, and an app for mobile phones to control the robot.

Action

• Power on with robot in sleep position.
• Robot will stand up immediately on power on.
• It will be idle for 10 secs, so that you can keep hold of robot if any configuration is wrong.
• After 10 seconds, robot will start to practice walk in same position.
• After another 3 seconds, robot will start walking in straight line. There may be unintentional yaw of robot during walk. This will be corrected in future.

Action video

Motivation

Michael Kubina's effort to build a economic version of Spot Micro using ESP32 with limited entry barrier for people interested to build a Quadruped. Please refer to Michael's 3D models repo for 3D printable Spot Micro model 3D model: https://github.com/michaelkubina/SpotMicroESP32

Initial developments on ESP32 came from Maarteen Weyn who ported the Spot Micro's python version of Inverse Kinematics to ESP32 and user interface on Android phones using Cordova framework. User inteface for this Spot ESP32 controller is heavily derived from Maarten's app using Cordova. Maarten's Code: https://github.com/maartenweyn/SpotMicro_ESP32

Mike implemented the first version of software controller for original Spot Micro project on ROS framework using research papers on Kinematics and 8 phase Gait, which is still the popular software for Spot Micro project. ESP32 controller for Spot Micro is heavily derived from Mike's implementation. Mike's Spot Micro: https://github.com/mike4192/spotMicro

TODO: app is still under development

CAUTION: be extremely careful when using this beta state controller firmware, and do it at your own risk.

Update the sub modules

git submodule update --init --recursive
git submodule update --recursive

Configure

Configure your robot using GPIO wiring and calibration data as mentioned in calibration documentation. NOTE: In future calibration tool(which is under development) will be able to produce this for you.

controller/src/config.h

// I2C configuration - GPIO
#define I2C_MASTER_SCL_IO 22 /*!< gpio number for I2C master clock */
#define I2C_MASTER_SDA_IO 23 /*!< gpio number for I2C master data  */

// PCA9685 configuration
#define PCA9685_I2C_ADDRESS 0x40 /*!< slave address for PCA9685, DEFAULT: 0x40 */

// ROBOT Servo Configuration
// IMPORTANT: Use servo_calibration_spreadsheet.ods to position and configure the servos
// NOTE: the servos are number from 1-12, but the PCA9685 channels can be configured to any arbitrary channel number
// RF - Right Front Leg
// lower leg
#define RF_LOWER_SERVO_CHANNEL 8
#define RF_LOWER_SERVO_CENTER 306
#define RF_LOWER_SERVO_RANGE 385
#define RF_LOWER_SERVO_DIRECTION 1
#define RF_LOWER_SERVO_CENTER_ANG_DEG 99.86f
// upper leg
#define RF_UPPER_SERVO_CHANNEL 7
#define RF_UPPER_SERVO_CENTER 306
#define RF_UPPER_SERVO_RANGE 407
#define RF_UPPER_SERVO_DIRECTION 1
#define RF_UPPER_SERVO_CENTER_ANG_DEG -31.62f
// shoulder joint
#define RF_HIP_SERVO_CHANNEL 6
#define RF_HIP_SERVO_CENTER 306
#define RF_HIP_SERVO_RANGE 396
#define RF_HIP_SERVO_DIRECTION -1
#define RF_HIP_SERVO_CENTER_ANG_DEG 1.67f

// RB - Right Back Leg
// lower leg
#define RB_LOWER_SERVO_CHANNEL 2
#define RB_LOWER_SERVO_CENTER 306
#define RB_LOWER_SERVO_RANGE 369
#define RB_LOWER_SERVO_DIRECTION 1
#define RB_LOWER_SERVO_CENTER_ANG_DEG 95.37f
// upper leg
#define RB_UPPER_SERVO_CHANNEL 1
#define RB_UPPER_SERVO_CENTER 306
#define RB_UPPER_SERVO_RANGE 381
#define RB_UPPER_SERVO_DIRECTION 1
#define RB_UPPER_SERVO_CENTER_ANG_DEG -37.21f
// shoulder joint
#define RB_HIP_SERVO_CHANNEL 0
#define RB_HIP_SERVO_CENTER 306
#define RB_HIP_SERVO_RANGE 403
#define RB_HIP_SERVO_DIRECTION 1
#define RB_HIP_SERVO_CENTER_ANG_DEG -3.27f

// LB - Left Back Leg
// lower leg
#define LB_LOWER_SERVO_CHANNEL 5
#define LB_LOWER_SERVO_CENTER 306
#define LB_LOWER_SERVO_RANGE 374
#define LB_LOWER_SERVO_DIRECTION 1
#define LB_LOWER_SERVO_CENTER_ANG_DEG -92.65f
// upper leg
#define LB_UPPER_SERVO_CHANNEL 4
#define LB_UPPER_SERVO_CENTER 306
#define LB_UPPER_SERVO_RANGE 403
#define LB_UPPER_SERVO_DIRECTION 1
#define LB_UPPER_SERVO_CENTER_ANG_DEG 91.23f
// shoulder joint
#define LB_HIP_SERVO_CHANNEL 3
#define LB_HIP_SERVO_CENTER 306
#define LB_HIP_SERVO_RANGE 367
#define LB_HIP_SERVO_DIRECTION -1
#define LB_HIP_SERVO_CENTER_ANG_DEG -7.20f

// Lf - Left fRONT Leg
// lower leg
#define LF_LOWER_SERVO_CHANNEL 11
#define LF_LOWER_SERVO_CENTER 306
#define LF_LOWER_SERVO_RANGE 385
#define LF_LOWER_SERVO_DIRECTION 1
#define LF_LOWER_SERVO_CENTER_ANG_DEG -87.43f
// upper leg
#define LF_UPPER_SERVO_CHANNEL 10
#define LF_UPPER_SERVO_CENTER 306
#define LF_UPPER_SERVO_RANGE 388
#define LF_UPPER_SERVO_DIRECTION 1
#define LF_UPPER_SERVO_CENTER_ANG_DEG 38.21f
// shoulder joint
#define LF_HIP_SERVO_CHANNEL 9
#define LF_HIP_SERVO_CENTER 306
#define LF_HIP_SERVO_RANGE 388
#define LF_HIP_SERVO_DIRECTION 1
#define LF_HIP_SERVO_CENTER_ANG_DEG 4.67f

// ........................... //

//IMPORTANT: Enable simulated commands to activate robot on Power on.
//           It stands up and starts walking on power on.
//IMPORTANT: with MG996R servos, robot may not have enough power to lift the robot
//           to stand up position. Help it stand up to avoid Servo stalling and burn up.
#define SIMULATED_COMMANDS