PRJ-02 / QUADRUPED / 12 DOF Working
Quadruped Spider Robot
My own 12-DOF quadruped on a custom power PCB. It walks and performs multiple moves with hand-designed control. Reinforcement learning and sim-to-real in MuJoCo are next.
What it is
A 12-DOF quadruped I designed and built myself. It walks and performs multiple moves using hand-designed (non-learned) control. It is the hardware platform for my reinforcement learning and sim-to-real work.
What I built
- Actuation: ST3020 and SC15 serial bus servos.
- Control: an ESP32-S3 controller and a Jetson Orin Nano Super.
- Custom power PCB:
- Two servo buses split by voltage: ST3020 servos on 12 V, SC15 servos on about 8 V from a TPS54540 buck converter.
- Input protection.
- INA226 current sensing and ADS1115 battery monitoring.
- Half-duplex transceivers for the serial servo buses.
What’s next
Train locomotion policies with reinforcement learning in MuJoCo and transfer them to this robot (sim-to-real). This is the core of my research direction.