Waveshare WAVEGO Basic Version 12DOF Quadruped Robot Bionic Dog Robot Dog Open Source for ESP32

Waveshare WAVEGO Basic Version 12DOF Quadruped Robot Bionic Dog Robot Dog Open Source for ESP32

Description:
The WAVEGO is a 12-DOF bionic dog-like robot that features 12 x 2.3kg.cm large torque servos, reliable structure, flexible motion, incorporating devices like front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as a sub-controller for connecting rod inverse solving and gait generation, sharing calculating tasks for the host controller.

Features:
* 12-DOF, more flexible movement.
* Multi-link leg structure + inverse kinematics algorithm, increasing the servo effective torque.
* With ICM20948 9-axis motion tracker, self-balancing mode can be used.
* 2.3kg. cm high-torque servo, the locked-rotor torque is up to 5.2kg. cm, and it is more extensible.
* ESP32 is equipped with an OV2640 camera, which can realize low-latency image transmission with a 2.4G external antenna.
* It is composed of 5052 aluminum alloy and PA12 nylon parts. There are 40 sets of bearings used in each joint of the whole body, and the structure is firm and reliable.
* Integrate a variety of interactive devices, including a 0.96-inch OLED screen, two RGB-LED indicators, an active buzzer, etc.
* The example code is developed using Ar-duino IDE, no need to manually configure the compilation environment, ESP32 will automatically establish a WIFI hotspot when it is turned on, you can use a mobile phone (for Android/iOS) or computer (for Linux/Windows/Mac) to connect and log in to the control page, just need to install a Chromium-based browser, no app is required.
* With a charging interface and automatic download circuit, you can use it during charging.
* Onboard two series 18650 batteries, 5200mAh in total (2600mAh for one battery), larger output current, and more powerful servo.
* Onboard lithium battery protection circuit, with anti-overcharge, anti-over-discharge, anti-over-current and short-circuit protection functions.
* The onboard INA219 acquisition chip is convenient for real-time monitoring of battery voltage and charging current.
* 2*5P expansion interface is reserved for the remaining IO and serial port of ESP32. The functions include RGB expansion, RX0, TX0, G21, G15, G12, 3V3, 5V and GND, which can be used to communicate with the host computer or connect to other devices.
* As the lower computer, ESP32 can share a lot of computing power of the rod inverse solving and gait generation.
* All codes are open source and provide online rich development documents and tutorials.

Know more information:
https://www.waveshare.com/wiki/WAVEGO

Specifications:
General:
* Product name: WAVEGO high-DOF bionic quadruped robot
* Stand up: length 218mm/8.6", width 116mm/4.6", height 152mm/6"
* Lie down: length 228mm/9", width 116mm/4.6", height 127mm/5"
* Overall weight: BASIC version: 465g/1lb (with batteries); Upgrade version: 554g/1.2lb (with batteries)
* DOF: 12 DOF overall, 3 DOF per single leg

Operating system:
* Demo code: For FreeRTOS + Raspberry Pi OS

Motion performance:
* Available gait: Shake hands | stand up | crouch slowly | diagonal gait | jump | self-balancing
* Motion extension: Providing motion programming example, including flexible Bezier curve speed motion function
* Max load: Basic version: 300g/0.7lb; Upgraded version: 200g/0.4lb

Servo info:
* Dimensions: 23.2 x 12.1 x 25.25mm/0.9 x 0.5 x 1"
* Weight: 13.0 ± 1g (0.03lb)
* Operating voltage: 6V
* Idle speed: 0.1sec/60° (100RPM)
* Stalling torque: 2.3kg.cm (31.99oz.in)
* Rated load: 0.7kg.cm
* Rated current: 350mA
* Control method: Pulse width modification
* Control system type: Digital comparator

Visual function:
* FreeRTOS demo: Web-based real time video streaming
* For Raspberry Pi OS demo: Real time video streaming | facial recognition | color tracking | moving object detection
* Note: all the demo codes are open sourced, the Raspberry Pi OS demo is based on open source projects flask-streaming

Processor and memory:
* ESP32 sub controller: Processor: Xtensa LX6 dual-core processor at 240MHz
* SRAM: 520KB+8MB
* Flash: 448KB+4MB

Others:
* WiFi standard: 802.11b/g/n
* Bluetooth standard: Bluetooth 4.2, including traditional Bluetooth (BR/EDR) and Bluetooth low energy (BLE)
* External port: 2*5P multi-function extension port (host controller communication, power supply selection, assembly mode selection, etc.); DC battery charger jack; Type-C (download, UART communication, peripheral expansion)

Power supply:
* Battery type: 18650 Li-ion batteries
* Supply voltage: 7-8.4V
* Recharge voltage: 8.4V
* Capacity of single battery: 2600mAh
* Protection: over charge/discharge protection, over current protection, short circuit protection, reverse connection protection, equalizing charge, stable and safe operating
* Output voltage: provides 5V output for other host controller

Package Included:
* 1 x Robot dog
* 1 x Storage bag

Note:
* It has been assembled and is ready to use.

Packaging Details:
* Volume weight: 4.5kg/9.9lb

High-DOF, more flexible motion
Overall 12-DOF, multi connecting rods leg design + inverse kinematics algorithm, significantly increasing the servo effective torque


Ultra compact structure design
5052 aluminum alloy and PA12 nylon structure materials, 40 sets of bearing joint all over the body, rugged and reliable structure, ensuring strength while keeping it light weight


Self-balancing posture
Embedded high precision 9-axes motion tracker ICM20948. Accommodating To Different Terrains, keeping the camera stable by self-balancing


Remote control via Web
Auto-generated WiFi Hotspot on startup, needs no compiling environment configuration, and allows connecting to and login the control page via smartphone or PC browser, without installing app