This is just a small teaser of my current project. There will be another post in the next few weeks where I will go into detail
This project was inspired by my constant fascination with walking robots. I always wanted to build one but a two legged robot is a pretty big challenge. Hexapods are a bit easier but with 18 motors just for 3 degrees of freedom per leg they can get pretty pricey. Especially since I decided to use good motors which cost a bit more. So in the end I went with a quadruped. With 3D printed parts.
My current version is using a USB controller for the Dynamixel motors. The application is written in C# and running on a Windows machine. This is just a temporary solution until I figure things out. I plan on moving the entire system to a OpenCM microcontroller also from ROBOTIS or a Raspberry Pi running ROS.
Movement in this video is a bit slow because of the heavy battery bank used to power the Pi
All of the code is open source and can be found here
I also plan on releasing the models once I am satisfied with them.