# simulation
**Repository Path**: r_r/simulation
## Basic Information
- **Project Name**: simulation
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-02-22
- **Last Updated**: 2021-02-22
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
# Custom version of BostonDynamics Spot robot
BostonDynamics Spot robot: https://www.youtube.com/watch?v=wlkCQXHEgjA
Can you make it dance? join the challenge: https://www.youtube.com/watch?v=kHBcVlqpvZ8&list=PLp5v7U2tXHs3BYfe93GZwuUZLGsisapic&index=2
Original idea by KDY0523 https://www.thingiverse.com/thing:3445283
Some of the community videos: https://www.youtube.com/playlist?list=PLp5v7U2tXHs3BYfe93GZwuUZLGsisapic
* Join us in Slack: https://spotmicroai-inviter.herokuapp.com/
* Documentation: https://spotmicroai.readthedocs.io
* Forum http://spotmicroai.org/
This is the repository for simulation code, usually in combination with nVIDIA Jetson Nano board, of SpotMicro project.
In here you can find all the project repositories: **https://gitlab.com/custom_robots/spotmicro**
# Simulation code repository of SpotMicro project
Note before you move one, this repo contains an initial step for the simulation in the platform created by Florian Wilk, but there are more project collaborators maintaining their own repos with different solutions, explore the different folders!
## Abstract:
The SpotMicroAI project is designed to be a low cost, easily built quadruped robot. The design is roughly based off of Boston Dynamics quadruped robot SpotMini, though with obvious adaptations such as size and sensor suite.
The project is maintained by a community of volunteers and is very much still in its early stages. Any individual is welcome to contribute, and in particular expertise in areas involving simulation, reinforcement learning, and hardware development is greatly appreciated.
## Getting started:
COMPLETE DOCUMENTATION AND GETTING STARTED GUIDES CAN BE FOUND AT:
[https://spotmicroai.readthedocs.io/en/latest/](https://spotmicroai.readthedocs.io/en/latest/)
[spotmicroai.readthedocs.io](http://spotmicroai.readthedocs.io)
The best place to get started is to read the getting started documentation at [spotmicroai.readthedocs.io](spotmicroai.readthedocs.io). The documentation will eventually contain a complete tutorial for building a SpotMicroAI including where to source components, links to most recent 3D files for printing, assembly, and installing the software. It's being updated as we go.
For questions or more information please see the [Forums at SpotMicroAI.org](http://SpotMicroAI.org), or asked on slack. Join our slack at: [https://spotmicroai-inviter.herokuapp.com/](https://spotmicroai-inviter.herokuapp.com/)
## Software:
There is currently a working Bezier Gait Environment with Randomizable Body and Terrain Parameters in [Pybullet](https://github.com/moribots/spot_mini_mini). It has a variety of trained Reinforcement Learning Agents for gait correction and rough terrain traveral, as well as a ROS interface to operate the robot using a Joystick. You can navigate to `Pybullet Simulation by Maurice Rahme` for more [information](https://github.com/moribots/spot_mini_mini) and to be redirected to the relevant files.
There is also a first integration of ROS with a Gazebo simulation available in `Joël's` folder.
## Hardware:
The hardware for SpotMicroAI is designed to be both aesthetically pleasing as well as easily obtainable and readily available. Wherever possible standard screws, bolts, and bearings are used. Standard hobby grade servos are currently used for locomotion in development however, they don't appear to have sufficient power to drive the robot at more than the slowest speeds. Other options are currently being investigated (including high-voltage and brushless hobby servos typically used with RC cars) which we hope will lead to a balance between an economical as well as robust robot.
The vast majority of the hardware by volume is designed to be 3D printed. So far complete prints have been successful in PLA, though no technical barriers should exist to printing the robot in other material such as PETG, nylon, ABS, etc. The majority of parts require significant supports to print.
The files available both as STL and STP. As a community we have not yet settled on a servo for this project and therefore multiple versions of the hardware exist to support the physical dimensions of the servos and their respective servo horns. For the most up-to-date version of the hardware please visit: [https://www.thingiverse.com/thing:3761340](https://www.thingiverse.com/thing:3761340). Please see documentation for details as to which files correspond to which servo.
## Electronics:
Sensors include a raspberry pi camera, MPU6050 Gyro accelerometer combination, and several ultrasound sensors. Some users have also integrated a RPiLIDAR A1 into their build.
A custom Power Distribution Board was developed for users with [single](https://github.com/moribots/spot_mini_mini/tree/spot/spot_real/PDB) or [dual](https://github.com/adham-elarabawy/OpenQuadruped/tree/master/hardware) power supplies. This power distribution board has a `1.5mm` Track Width to support up to `5.5A` at a 10C temperature increase (conservative estimate). There are also copper grounding planes on both sides of the board to help with heat dissipation, and parallel tracks for the power lines are provided for the same reason. The PDB also includes shunt capactiors for each servo motor to smooth out the power input. You are free to select your own capaciors as recommendations range from `100uF` to `470uF` depending on the motors. Make sure you use electrolytic capacitors. This board interfaces with a sensor array (used for foot sensors on this project) and contains two I2C terminals and a regulated 5V power rail. At the center of the board is a Teensy 4.0 which communicates with a Raspberry Pi over Serial to control the 12 servo motors and read the analogue sensors. The Teensy allows for motor speed control, but if you don't need this, it defaults at 100deg/sec (you can change this).
## Community:
The primary community discussions take place on SpotMicro.org. The message boards there contain a repository of topics which span hardware and software.
Real-time question-and-answer (or as close to real time as is possible when run by volunteers with full-time jobs and families) can happen on slack (LINK coming soon).
Other questions occasionally surface on other location such as on Thingiverse or on robotshop.com. We do our best answers these as we see them, but if you want to be heard the best way is either on SpotMicro.org or on slack.
As a community we do have some small expenses such as web hosting fees and occasional developing fees. In the future, we would also like to hold events and competitions. To anyone who finds enjoyment or education in this project we appreciate the financial support you're able to give. Donations coming soon.
All donations stay in the community and go towards future development.
If you use this worker will any work derived from it in academic publication please cite it as: *insert citation here*.