Venom : Sprawling-type Quadruped robot

Venom is a 12-DOF unmanned Quadruped(four legged robot) equipped with 12 Servo Actuators an ARM Processor for onboard computations.

The Quadruped is based on Sprawling type motion with creep and trot gait successfully implemented on it.

This is a part of research project in Legged Mobility at Society of Robotics and Automation, VJTI.

• Most of the robots available in the industry make use of wheels for navigation. The goal is to build legged vehicle with multiple-terrain mobility superior to existing wheeled and tracked vehicles.
• The system would be able to travel anywhere a person or animal could go using their legs while carrying its own fuel and payload. It would be smart enough to negotiate terrain with a minimum of human guidance and intervention

Demo Video

VENOM- All terrain Quadruped

Table of Contents (Optional)

• Installation
• Hardware Stack
• Team
• FAQ
• License

Creep GAIT Example

venom = Quadruped(servoId) # Servo ID Array
venom.setParams(dirVector,FixedPoints)# Servo Direction and Set Points
venom.go2CreepStartPosition()
input("Press Enter") # Wait for user Input
# For CREEP GAIT
venom.walk(CREEP)
# For TROT GAIT
venom.walk(TROT)

Software-Installation

• Requires Python 3.4+ installed on RaspberryPi (or Similar Development Board).

Hardware-Stack

• Jetson Nano (RasberryPi will work as well)
• Servo Motors: 12 Dynamixel AX-12A or better / any Normal PWM Servo Motor (Torque > 20kgcm ).
• Servo Motors(Alternate Servos): Coreless Servo
• PCA9685 16 Channel PWM Servo Driver for PWM Servo , CM-530 Robotis Servo Controller for Dyanmixel Servos.
• Acrylic Chasis (CAD Files Available)

Clone

• Clone this repo to your local machine using https://github.com/chinmaynehate/Venom.git

Setup

Install dependencies

$ python3 -m pip install numpy adafruit_servokit busio sympy 

Team

Chinmay Nehate	Suyash More	Shashank Deshmukh
github.com/chinmaynehate	github.com/SuyashMore	github.com/shanks-d

FAQ

• How do I do specifically so and so?
  • Create an Issue to this repo , we will respond to the query

License

• MIT license