# Quadruped Robot 12dof v1.1
<img src="images/quadruped_12dof_v1.1_1.jpg" width="500"><br>*Quadruped Robot 12dof v1.1 - Autonomy Upgrade - Weight: 2,8kg*<br>

## Description

* this page describes the autonomy upgrade for the [Quadruped 12dof v1 Robot](../quadruped_robot_12dof_v1/README.md#quadruped-robot-12dof-v1)
* onboard batteries and wireless communication will enable the robot to operate without power and ethernet wires
* using the onboard imu for state estimation will enable the robot to operate outside of the motion capture area
* the robot will carry two lithium polymer batteries - one battery pack in the front and one battery pack in the back of the robot
* the custom power management board will enable safe operation of the batteries, e-stop handling and real-time current and battery voltage measurements
* there is a status led ring with 12 RGB leds on the top of the robot
* there are two payload interfaces with mounting holes to attach additional components to the top or the bottom of the robot
* the estimated weight increase for this upgrade is about 300g
* the components that were upgraded are marked red in the screenshot below

<img src="images/quadruped_component_overview_1.png" width="600"><br>*Quadruped 12dof v1.1 Overview - the updated components are marked in red.* <br>

<img src="images/quadruped_12dof_v1.1_4.jpg" width="500"><br>*Quadruped Robot 12dof v1.1 - Top View*<br>

<img src="images/quadruped_12dof_front_comparison_1.jpg" width="500"><br>*Quadruped Robot 12dof v1.1 - Front View<br>Sitting - dimensions: 46cm x 31cm x 6cm<br>Folded - dimensions: 46cm x 22cm x 9cm*<br>

---
## Electronics

<img src="images/electronic_components_1.jpg" width="600"><br>*Electronic Components Overview - weight: 463g*<br>  


### Power Management Board

<img src="images/power_board_2.jpg" width="400"><br>*Power Management Board - weight: 16g*<br>  

* this custom Power Management Board is being developed by [Thomas Flayols](https://github.com/thomasfla)
* Documentation: [Power Board GitHub Page](https://github.com/open-dynamic-robot-initiative/power-board)
* monitors battery voltage and current
* reads on/off switch and e-stop
* cuts battery power if the e-stop is activated
*	inrush current limitation
*	SPI interface for communication with the Master Board
*	8 x XT30 output connectors
* dimensions: 65mm x 35mm
* mounting holes: ø 2,1mm / spacing 61mm x 31mm
* weight: 16g

## Off-the-shelf Components

### Lithium Polymer Batteries
<img src="images/batteries_1.jpg" width="300"><br>*Lithium Polymer Batteries - weight: 68g each*<br>  

* SLS X-Cube 850mAh lithium polymer batteries
* 3S1P / 11,1V / 30C continous / 60C burst
* weight: 68g
* dimensions: 60mm x 30mm x 21mm
* power connector: XT 30
* balancer connector: XH
* don't use the lipo batteries without a power management board!
* Ordering information [below](#bill-of-materials---upgrade-quadruped-robot-12dof-v11)

### Switches
<img src="images/switches_1.jpg" width="300"><br>*Push Button Switches - weight: 3,5g each*<br>  
* E-Stop Switch: red button - normally closed - momentarily open while pushed
* On-Off Switch: green button - normally open - momentarily closed while pushed
* ø13,6mm / weight: 3,5g
* Ordering information [below](#bill-of-materials---upgrade-quadruped-robot-12dof-v11)

### Status Led Ring
<img src="images/led_ring_1.jpg" width="300"><br>*Status Led Ring - weight: 3,3g*<br>  
* Status Led Ring with 12 Neopixel RGB leds
* dimensions: OD: 36,9mm / ID: 23,3mm
* weight: 3,3g
* Ordering information [below](#bill-of-materials---upgrade-quadruped-robot-12dof-v11)
---
## 3D Printed Parts

<img src="images/3d_printed_parts_1.jpg" width="500"><br>

* All the STL files for 3d printing the parts below can be found here: [STL Files](stl_files). <br>

<img src="../general/images/printing_direction.png" width="400"><br>

`The recommended printing direction for all the parts below is the positive z direction of the stl files.`

---
<img src="images/body_structure_center_payload.png" width="350"> <br>
* [Body Structure Center Payload - STL file](stl_files/body_structure_center_payload.STL)<br>
* this part can be used on the top and the bottom side of the robot
* weight: 31g
---
<img src="images/body_structure_front_batterie_lid.png" width="300"> <br>
* [Body Structure Front Batterie Lid - STL file](stl_files/body_structure_front_batterie_lid.STL)<br>
* weight: 11g
---
<img src="images/body_structure_front_batterie.png" width="300"> <br>
* [Body Structure Front Batterie - STL file](stl_files/body_structure_front_batterie.STL)<br>
* weight: 18g

---
<img src="images/body_structure_top_imu_leds.png" width="300"> <br>
* [Body Structure Top IMU Leds - STL file](stl_files/body_structure_top_imu_leds.STL)<br>
* weight: 15g
---
<img src="images/body_structure_top_master_power_board.png" width="350"> <br>
* [Body Structure Top Master Power Board - STL file](stl_files/body_structure_top_master_power_board.STL)<br>
* weight: 15g
---
<img src="images/mount_switches.png" width="350"> <br>
* [Mount Switches - STL file](stl_files/mount_switches.STL)<br>
* weight: 4g
---
<img src="images/neo_pixel_cover.png" width="250"> <br>
* [Neo Pixel Cover - STL file](stl_files/neo_pixel_cover.STL)<br>
* weight: 0,3g
---

## Bill of Materials - Upgrade Quadruped Robot 12dof v1.1
<img src="images/quadruped_12dof_components_1.png" width="400">

| Part Name | Quantity | Ordering Information | Comments |  
| --- | --- | --- | --- |   
|Power Management Board|1|[Power Board GitHub Page](https://github.com/thomasfla/power-board)|Custom Electronics|
|LiPo Battery SLS X-Cube 850mAh|2|[SLS Product Page](https://www.stefansliposhop.de/en/batteries/sls-x-cube/sls-x-cube-30c/sls-x-cube-850mah-3s1p-11-1v-30c-60c::1534.html)<br>SLSCUX08503130|[Charging and Safey Accessories](../../electronics/details/details_components.md#batteries-and-charging-accessories)|
|E-Stop Switch|1|RS 820-7587|Red Push Button Switch|
|On-Off Switch|1|RS 820-7593|Green Push Button Switch|
|Status Led Ring|1|Adafruit 1643<br>Mouser 485-1643 <br>Conrad 1516560|NeoPixel Ring RGB LED 12 x WS2812|
|Body Structure Center Payload|2|[STL File](stl_files/body_structure_center_payload.STL)|3d printed part|
|Body Structure Front Batterie Lid|2|[STL File](stl_files/body_structure_front_batterie_lid.STL)|3d printed part|
|Body Structure Front Batterie|2|[STL File](stl_files/body_structure_front_batterie.STL)|3d printed part|
|Body Structure Top IMU Leds|1|[STL File](stl_files/body_structure_top_imu_leds.STL)|3d printed part|
|Body Structure Top Master Power Board|1|[STL File](stl_files/body_structure_top_master_power_board.STL)|3d printed part|
|Mount Switches|1|[STL File](stl_files/mount_switches.STL)|3d printed part|
|Neo Pixel Cover|1|[STL File](stl_files/neo_pixel_cover.STL)|3d printed part|
|Fastener M2 x 6 SHCS|8||Power Board and Master Board|
|Fastener M2,5 x 6 SHCS|1||Switch Mount Back|
|Fastener M2,5 x 8 SHCS|1||Switch Mount Front|
|Fastener M3 x 6 SHCS|4||Batterie Lid|
|Helicoil M2,5 x 3,75mm|10|||
|Helicoil M3 x 4,5mm|20|||

---
## Preparing the 3D Printed Parts

<img src="images/3d_printed_part_preparation_1.png" width="400"><br>

<img src="images/3d_printed_part_preparation_2.png" width="400"><br>

<img src="images/3d_printed_part_preparation_3.png" width="400"><br>

<img src="images/3d_printed_part_preparation_4.png" width="400"><br>

<img src="images/3d_printed_part_preparation_5.png" width="400"><br>

<img src="images/3d_printed_part_preparation_6.png" width="400"><br>

<img src="images/3d_printed_part_preparation_7.png" width="400"><br>

## Wiring Documentation
### Power Board and Master Board
<img src="images/master_power_board_1.jpg" width="450"><br>*Power Board, Master Board and Switches on Mounting plate - weight: 67g*<br>  

| Description | Quantity | Wire Length | Comments |  
| --- | --- | --- | --- |
|Power Wire|1|8cm|[XT30](../../electronics/details/details_components.md#power-connectors) to [2pin Hirose](../../electronics/details/details_components.md#hirose-df13-sockets)|   
|SPI Wire|1|5cm|[SPI Wiring Documentation](../../electronics/details/details_wiring.md#spi-wires)|
|Switch Wire|1||Pin assignment below.|

<img src="images/wiring_switches_1.png" width="400"><br>*Wiring On/Off and E-Stop Switch*<br>

### Front Micro Driver Stack
<img src="images/front_stack_1.jpg" width="450"><br>*Front Micro Driver Stack - fully wired - weight: 112g*<br>  

| Description | Quantity | Wire Length | Comments |  
| --- | --- | --- | --- |   
|Motor Phase Wires |18|8cm|[Micro Driver Board Wiring Documentation](../../electronics/details/details_wiring.md#micro-driver-board-wiring)|
|Power Supply Wires|3|30cm|[Micro Driver Board Wiring Documentation](../../electronics/details/details_wiring.md#micro-driver-board-wiring)|
|SPI Wires|3|34cm|[SPI Wiring Documentation](../../electronics/details/details_wiring.md#spi-wires)|

### Hind Motor Driver Stack
<img src="images/hind_stack_1.jpg" width="450"><br>*Hind Motor Driver Stack - fully wired - weight: 98g*<br>  

| Description | Quantity | Wire Length | Comments |  
| --- | --- | --- | --- |   
|Motor Phase Wires |18|8cm|[Micro Driver Board Wiring Documentation](../../electronics/details/details_wiring.md#micro-driver-board-wiring)|
|Power Supply Wires|3|16cm|[Micro Driver Board Wiring Documentation](../../electronics/details/details_wiring.md#micro-driver-board-wiring)|
|SPI Wires|3|18cm|[SPI Wiring Documentation](../../electronics/details/details_wiring.md#spi-wires)|

### Inertia Measurement Unit
<img src="images/imu_1.jpg" width="450"><br>*Inertia Measurement Unit - weight: 18g*<br>  

| Description | Quantity | Wire Length | Comments |  
| --- | --- | --- | --- |   
|Interface Wire |1|40cm|[IMU Wiring Documentation](../../electronics/details/details_wiring.md#imu-wire)|

### Neo Pixel Led Ring
<img src="images/led_ring_2.jpg" width="450"><br>*Neo Pixel Led Ring with Mounting Plate - weight: 22g*<br>  

| Description | Quantity | Wire Length | Comments |  
| --- | --- | --- | --- |   
|Interface Wire |1|34cm|Pin assignment below.|

<img src="images/neo_pixel_wire_1.png" width="450"><br>*Neo Pixel Interface Wire*<br>  

### Battery Wire

<img src="images/battery_wire_1.jpg" width="400"><br>*Battery Wire - weight: 12g*<br>  

<img src="images/battery_wire_1.png" width="450"><br>*Battery wire - the batteries are connected in series.*<br>

## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](../../README.md#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)  

## Authors
Felix Grimminger

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University