Spot Micro - Leika

A small quadruped robot, inspired by boston dynamic Spot.

Key Features • Overview • Getting started • Credits • License

Status

Key Features

• Live preview - Make changes, See changes
• Real time data sync
  • Camera live stream
• Dual joystick controller
• Dark/Light mode
• Full screen mode
  • Immersive, distraction free.
• Self hosted, self included

Overview

This repository contains the complete source code for a Spot Micro quadruped robot. Execution of the software takes place on a ESP32 cam, which runs various number of FreeRTos task for seamless robotic operations. By focusing on practicality and simplicity in both hardware and software, it offer an accessible platform for learning, experimentation, and modest real-world applications.

Electronics

• ESP32 cam - Brain
• OV2640 160° - Camera
• PCA9685 - Servo board
• 12x 20kg(or higher) servo motors
• MPU6050 - Inertial measurement unit
• GY-271 - Magnetometer
• SZBK07 - 20A DC-DC Buck Converter
• LM2596 or XL4015 - DC-DC Stepdown Module
• 2x HC-SR04 - Ultrasonic Distance Sensor
• 0.96" SD1306 - OLED diplay
• ACS712 - Current sensor
• ADS1115 - 16 bit analog to digital converter
• Power button w/ led
• 4x 18650 Li-ion battery in 2P2S configuration
• Couple of resistors (10K, 47.7k, 33K)
• 4x Servo extension cables

Connection Diagram

Body

The robots is 3D printed and is a combination of different Spot Micro designs, with some minor modification on top. The original design is developed by KDY0523.

• robjk reinforced shoulder remix
• Kooba SpotMicroESP32 remix
• KDY0532 original design

The 3D prints is assembled with some additional component:

• 84x M2x8 screws + M2 nuts
• 92x M3x8 screws + M3 nuts
• 64x M3x20 screws + M3 nuts
• 12x 625ZZ ball bearings

Software

The software make use of a range of different libraries to enhance the functionality. Up to date list can be seen in platformio.ini file. The libraries includes:

• Esp32SvelteKit
• PsychicHttp
• ArduinoJson
• Adafruit SSD1306
• Adafruit GFX Library
• Adafruit BusIO
• Adafruit PWM Servo Driver Library
• Adafruit ADS1X15
• Adafruit HMC5883 Unified
• Adafruit Unified Sensor
• UrlEncode
• MPU6050 light
• SPI

Structure

The software utilizes a couple of FreeRTos task

Task	Description	Priority	Core
Idle0 task	Burns cpu time to track cpu usage for core 0	0	0
Idle1 task	Burns cpu time to track cpu usage for core 1	0	1
Spot service task	Handle synchronous services	2	0

Feature flags

To dis-/enable the major feature I use defines. Define them in either featureflags.h or in platformio.ini's build_flags.

Feature	Description	Default
FT_BATTERY	Whether or not to use battery	0
FT_NTP	Whether or not to use time server	1
FT_SECURITY	Whether or not to use login system	0
FT_MQTT	Whether or not to use MQTT	0
FT_SLEEP	Whether or not include sleep management	0
FT_UPLOAD_FIRMWARE	Whether or not to use OAT	0
FT_DOWNLOAD_FIRMWARE	Whether or not to use github for firmware updates	0
FT_ANALYTICS	Whether or not to use analytics service	1

📲 Controller

The controller is a SvelteKit app, which main focus is to calibrate and control the robot.

It is made to be included and hosted by the robot. Therefore there is placed a lot of thought behind the functionality and dependencies.

Development dependencies

For the development dependencies I choose the following

Dependencies	Description
SvelteKit	SvelteKit is an application framework built on top of Svelte, enhancing it with features like routing, server-side rendering, and static site generation. It streamlines the development process by integrating server-side capabilities with Svelte's client-side benefits. Furthermore it make the development process fast and enjoyable.
Vite	Vite is a frontend tool that is used for building fast and optimized web applications. Is serves code local during development and bundles assets for production
Typescript	TypeScript's integration of static typing enhances code reliability and maintainability.
Tailwind CSS	Tailwind CSS accelerates web development with its utility-first approach, ensuring rapid styling and consistent design.

Libraries

For the app functionality I choose the following:

Dependencies	Description
Three	Easy to use, lightweight, cross-browser, general purpose 3D library.
Urdf-loader	Utilities for loading URDF files into THREE.js and a Web Component that loads and renders the model.
Xacro-parser	Javascript parser and loader for processing the ROS Xacro file format.
NippleJS	A vanilla virtual joystick for touch capable interfaces.
Uzip	Simple, tiny and fast ZIP library.
ChartJS	Simple and flexible charting library.

Kinematics

The kinematic for the robot is from this kinematics paper

Getting started

1. Clone and open the new project

   git clone https://github.com/runeharlyk/SpotMicroESP32-Leika

2. Install dependencies with preferable package manager (npm, pnpm, yarn)

   cd app
   pnpm install

3. Configure device settings

   1. Update factory_settings.ini with relevant settings

4. Upload filesystem image using platformIO

5. Upload firmware using platformIO

Usage

Developing

1. Run the app

   cd app
   pnpm run dev

Future

See the open issues for a full list of proposed features (and known issues).

Credits

This project takes great inspiration from the following resources:

1. Spot Micro Quadruped Project - mike4192
2. Kinematics
3. ESP32SvelteKit template
4. SpotMicroAi
5. Spot Micro - Leika
6. NightDriverStrip

Support

You may also like...

• Spot Micro Quadruped Project - mike4192 - Great ROS based project
• SpotMicroAi - Group repository with simulations and runtimes

License

MIT

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runeharlyk.dk  ·  GitHub @runeharlyk  ·  LinkedIn @Rune Harlyk