Inspired by Boston Dynamics' Spot Mini, MIT's Mini Cheetah, and the exceptional work by my good friend Adham Elarabawy on OpenQuadruped
https://www.adham-e.dev/
https://github.com/adham-elarabawy/open-quadruped
Mechanical: I'll be starting out with a lightweight but robust 3D Printed frame + some fairly powerful hobby servos with a BOM cost of <$800. Eventually, I hope to scale it up and move to hobby brushless DC motors. Or in the far future, custom motor technology.
Control: I'm using a Raspberry Pi for pose computation and a Teensy 4.0 MCU to handle peripheral IO but mainly PWM to the servo motors. In the far future I might scale to a Nvidia Jetson Nano for more complex motion/path planning projects, which would also require a better sensor suite.
Demos
