# Quadruped Robot 12dof v1

<img src="images/solo12_8.jpg" width="400"><br>*12dof Quadruped Robot - weight: 2,5kg*<br>  

## Commercial Option

<img src="images/solo12_pal_1.jpg" width="400"><br>*Solo12 Quadruped Robot. Picture source: PAL Robotics*<br>  

The Solo12 robot is now commercially available from PAL Robotics.
You can purchase the fully assembled robot or you can order a kit with all the components that are required and assemble the robot yourself.

* [PAL Robotics - Solo12 Product Page](https://solo.pal-robotics.com/solo)

Both options include the [inertia measurement unit](#inertia-measurement-unit), the [calibration tools](../general/robot_calibration.md#calibration-tool-quadruped-12dof) and the three different [center plate options](#body-module).
The [Micro Driver Board Programmer](../../electronics/micro_driver_electronics/README.md#flash-adapter-and-flash-wire) and the [Master Board Programmer](https://github.com/open-dynamic-robot-initiative/master-board/blob/master/firmware/README.md#flashing-the-firmware) are included as well.

All the information on how to order the components and build the robot yourself can be found below.

## Description

* this page describes all the components that are required to build the Quadruped Robot with 12 active degrees of freedom
* the robot consists of a body module and 4 identical 3dof legs
* the 3dof legs are described on a separate page: [Leg 3dof v1](../leg_3dof_v1/README.md#leg-3dof-v1)
* the robot has a connection wire for power supply and ethernet communication
* we are working on a new version with onboard batteries and wireless communication: [Quadruped Robot v1.1 - Autonomy Upgrade](../quadruped_robot_12dof_v1.1/README.md#quadruped-robot-12dof-v11)

<img src="images/quadruped_robot_iso_1.jpg" width="400"><br>*Quadruped Robot 12dof*<br>  
<img src="images/quadruped_robot_top_1.jpg" width="400"><br>*Quadruped Robot 12dof - Top View*<br>
<img src="images/quadruped_robot_front_1.jpg" width="400"><br>*Quadruped Robot 12dof - Front View*<br>  
<img src="images/quadruped_robot_folded_1.jpg" width="400"><br>*Quadruped Robot 12dof - legs folded for transport*<br>  

## Dimensions
<img src="images/solo_12_dimensions.png" width="500"><br>*Quadruped Robot Dimensions: 45cm x 30cm x 6cm*

<img src="images/hip_height_1.png" width="500"><br>*Quadruped Robot Hip Height*

## Range of Motion
<img src="images/solo12_rom.png" width="550"> <br>
* the standard Hip AA range of motion is 215 degrees
* the effective Hip AA range of motion can be extended to 325 degrees if the Hip FE joint is moved simultaneously

<img src="images/solo12_rom_2.png" width="550"> <br>

* the Knee and Hip FE degrees of freedom can perform multiple rotations
* this enables the robot to step onto obstacles or to recover from a fall
* the wires that are routed through the Hip FE joint limit the number of rotations that can be performed

## Leg Modules
<img src="images/3dof_legs_1.jpg" width="500"><br>*3dof Leg Modules - weight: 485g each*<br>

* [Leg 3dof v1 Documentation](../leg_3dof_v1/README.md#leg-3dof-v1)

## Hip Adapters

<img src="images/hip_adapter_placement_1.png" width="400"><br>*The hip adapters are installed on the front right and the hind left leg.*

## Body Module
<img src="images/body_structure_2.jpg" width="450"><br>*Body Structure - weight: 300g*<br>

<img src="images/top_plates_1.jpg" width="450"><br>*Body Structure Center Plates - 3 different versions are available.*<br>

## Electronics
<img src="images/electronics_overview_2.jpg" width="500"> <br> *Electronic Component Overview*<br>

<img src="images/electronics_overview_1.jpg" width="500"> <br> *Electronic Components Quadruped Robot*<br>

### Master Board
<img src="images/master_board_1.jpg" width="300"> <br> *Master Board v2 - weight: 19g each*
* Custom electronics board: [Master Board Documentation](https://github.com/open-dynamic-robot-initiative/master-board#master-board)
* [Master Board Wiring Documentation](details/details_electronics_quadruped_12dof.md#master-board)

### Micro Driver Boards
<img src="images/micro_driver_stack_3.jpg" width="450"> <br> *Micro Driver Stacks for Quadruped Robot - weight: 94g*

* Custom electronics board: [Micro Driver Board Documentation](../../electronics/micro_driver_electronics/README.md)
* [Micro Driver Wiring Documentation](details/details_electronics_quadruped_12dof.md#micro-driver-stack-front)

### Inertia Measurement Unit
<img src="images/imu_3dm_cx5_25_2.jpg" width="250"><br>*Inertia Measurement Unit - weight: 13g*<br>
* Lord Microstrain 3DM-CX5-25
* [3DM-CX5-25 Product Page](https://www.microstrain.com/inertial/3dm-cx5-25)
* We use the imu with an extended measurement range
  * Gyro Rate: +/- 900 deg/sec.
  * Accelerometer range: +/- 20G
* If you want to use a different IMU, you might want to have a look at [this post in the ODRI Forum](https://odri.discourse.group/t/using-imu-lord-microstrain-3dm-gx4-45/202/4?u=ferdinand-wood)
* [IMU Wiring Documentation](details/details_electronics_quadruped_12dof.md#inertia-measurement-unit)
* Ordering information [below](#bill-of-materials---quadruped-robot-12dof)

## 3D Printed Parts
<img src="images/body_structure_components_1.jpg" width="500"><br>*3D Printed Body Structure Components - weight: 270g*

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

<img src="details/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="details/body_structure_back.png" width="300"> <br>
* [Body Structure Back - STL file](stl_files/body_structure_back.STL)<br>
* weight: 12g
---
<img src="details/body_structure_bottom_rev_a.png" width="300"> <br>
* [Body Structure Bottom Rev A - STL file](stl_files/body_structure_bottom_rev_a.STL)<br>
* for Micro Driver boards with 90 degree Hirose encoder connectors
* weight: 10g
---
<img src="details/body_structure_center_options.png" width="500"><br>*There are 3 different versions for the body structure center top plate.<br>Minimal, with handle and with handle and Vicon marker attachments.* <br>

---
<img src="details/body_structure_center.png" width="350"> <br>
* [Body Structure Center - STL file](stl_files/body_structure_center.STL)<br>
* this part can be used on the bottom and the top of the robot
* weight: 24g
---
<img src="details/body_structure_center_handle.png" width="350"> <br>
* [Body Structure Center Handle- STL file](stl_files/body_structure_center_handle.STL)<br>
* weight: 29g
---
<img src="details/body_structure_center_vicon.png" width="350"> <br>
* [Body Structure Center Vicon- STL file](stl_files/body_structure_center_vicon.STL)<br>
* weight: 30g
---
<img src="details/body_structure_front.png" width="300"> <br>
* [Body Structure Front - STL file](stl_files/body_structure_front.STL)<br>
* weight: 12g
---
<img src="details/body_structure_hip_aa_support_rev_a.png" width="270"> <br>
* [Body Structure Hip AA Support Rev A - STL file](stl_files/body_structure_hip_aa_support_rev_a.STL)<br>
* weight: 20g

---
<img src="details/body_structure_side.png" width="300"> <br>
* [Body Structure Side - STL file](stl_files/body_structure_side.STL)<br>
* weight: 18g

---
<img src="details/body_structure_top_imu.png" width="300"> <br>
* [Body Structure Top IMU - STL file](stl_files/body_structure_top_imu.STL)<br>
* weight: 12g

---
<img src="details/body_structure_top_master_board.png" width="300"> <br>
* [Body Structure Top Master Board - STL file](stl_files/body_structure_top_master_board.STL)<br>
* weight: 11g
---
<img src="details/led_cover.png" width="200"> <br>
* [Led cover - STL file](stl_files/led_cover.STL)<br>
* weight: 0,4g
* Print with transparent or translucent material
---
<img src="details/hip_adapter.png" width="250"> <br>
* [Hip Adapter - STL file](stl_files/hip_adapter.STL)<br>
* weight: 5g

---
<img src="details/stack_spacer.png" width="200"> <br>
* [Micro Driver Stack Spacer - STL file](stl_files/spacer_micro_driver_stack.STL)
* weight: 0,1g
---

## Off-the-shelf Components
### Hip AA Bearing
<img src="images/hip_aa_bearings.jpg" width="300"><br>*Hip AA bearings - weight: 3,4g each*

* Stainless steel bearings for Hip AA dof
* Dimensions: 25mm x 20mm x 4mm  
* Ordering information [below](#bill-of-materials---quadruped-robot-12dof)

### Fasteners

<img src="images/fasteners.jpg" width="300"> <br>
* stainless steel fasteners
* Ordering information [below](#bill-of-materials---quadruped-robot-12dof)

<img src="images/fasteners_imu.jpg" width="300"> <br>
* Plastic M2,5 fasteners for the IMU
* Ordering information [below](#bill-of-materials---quadruped-robot-12dof)

### Helicoil Thread Inserts

<img src="images/helicoils.jpg" width="300"> <br>
* M3 x 4,5 Helicoil thread inserts
* Ordering information [below](#bill-of-materials---quadruped-robot-12dof)

### Vicon Markers
<img src="images/vicon_marker.jpg" width="300"> <br>*Reflective Markers for motion capture system - weight: 1g each*
* 9.5mm Vicon Markers
* M4 x 10 set screws for attachment
* Ordering information [below](#bill-of-materials---quadruped-robot-12dof)

## Bill of Materials - Quadruped Robot 12dof
<img src="images/solo_12_cad_1.png" width="250">

| Part Name | Quantity | Ordering Information | Comments |  
| --- | --- | --- | --- |   
|3DOF Leg |4|[3DOF Leg Documentation](../leg_3dof_v1/README.md#leg-3dof-v1)|Custom assembly|
| Master Board v2 | 1 | [Master Board Documentation](https://github.com/open-dynamic-robot-initiative/master-board#master-board) | Custom electronics |
| Micro Driver Board v2 | 6 | [Micro Driver Documentation](../../electronics/micro_driver_electronics/README.md#micro-driver-electronics)| Custom electronics |
|Inertia Measurement Unit| 1 |[Lord Microstrain 3DM-CX5-25](https://www.microstrain.com/inertial/3dm-cx5-25)<br><br> [Distributors](https://www.microstrain.com/support/distributors)| Extended measurement range:<br> Gyro Rate: +/- 900 deg/sec. Accelerometer range: +/- 20G|
|Body Structure Back |1|[STL file](stl_files/body_structure_back.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Bottom |2|[STL file - Rev A](stl_files/body_structure_bottom_rev_a.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Center |1|[STL file](stl_files/body_structure_center.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Center Handle|1|[STL file](stl_files/body_structure_center_handle.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Center Vicon|1|[STL file](stl_files/body_structure_center_vicon.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Front |1|[STL file](stl_files/body_structure_front.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Hip AA Support |4|[STL file](stl_files/body_structure_hip_aa_support.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Side |4|[STL file](stl_files/body_structure_side.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Top IMU |1|[STL file](stl_files/body_structure_top_imu.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Body Structure Top Master Board |1|[STL file](stl_files/body_structure_top_master_board.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Led Cover |1|[STL file](stl_files/led_cover.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)<br>Print with transparent or translucent material.|
|Hip Adapter|2|[STL file](stl_files/hip_adapter.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Spacer Micro Driver Stack|16|[STL file](stl_files/spacer_micro_driver_stack.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Hip AA Bearing<br>25mm x 20mm x 4mm <br> ET2520 2Z VA| 4 | [Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/)<br>[Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br>[EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br>[SBN](https://www.sbn.de/en/)|Italy: [Emiliana Cuscinetti](https://www.emilianacuscinetti.com/en/miniature-bearings/) or [Doppiaemme](https://www.doppiaemme.it/en/prodotti/)<br> USA: [EZO USA](https://catalog.ezo-usa.com/category/metric-series-bearings)<br> All other countries: Send an email to info@sbn.de and ask for a quote - they ship worldwide. <br> SBN # C07024 <br>We use stainless steel bearings.|
|Fasteners Body Structure Side<br>M3x12 Socket Head Cap Screw|16|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-4762-DIN-912-Zylinderkopfschrauben-mit-Innensechskant-aehnl.-DIN-912/Edelstahl-Rostfrei-A2/M-3-Gewinde-M-metrisches-Regelgewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Fasteners Body Structure Center<br>M3x8 Socket Head Cap Screw|8|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-4762-DIN-912-Zylinderkopfschrauben-mit-Innensechskant-aehnl.-DIN-912/Edelstahl-Rostfrei-A2/M-3-Gewinde-M-metrisches-Regelgewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Fasteners Hip AA Actuator Modules<br>M2,5x10 Socket Head Cap Screw|16|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-4762-DIN-912-Zylinderkopfschrauben-mit-Innensechskant-aehnl.-DIN-912/Edelstahl-Rostfrei-A2/M-2,5-Gewinde-M-metrisches-Regelgewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Fasteners Hip AA Support<br>M3x14 Socket Head Cap Screw|8|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-4762-DIN-912-Zylinderkopfschrauben-mit-Innensechskant-aehnl.-DIN-912/Edelstahl-Rostfrei-A2/M-3-Gewinde-M-metrisches-Regelgewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Fasteners Micro Driver Stack<br>M2,5x25 Socket Head Cap Screw|8|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-4762-DIN-912-Zylinderkopfschrauben-mit-Innensechskant-aehnl.-DIN-912/Edelstahl-Rostfrei-A2/M-2,5-Gewinde-M-metrisches-Regelgewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Fasteners IMU|3|M2,5x16 Slotted Screw<br>Conrad 839940-62|Polyamide Plastic<br>Shorten to 13mm|
|Helicoil M3 x 4,5mm|32|[RS 470-838](https://de.rs-online.com/web/p/reparatur-einsatzgewinde/0470838/)<br>[Hoffmann 082812 M3](https://www.hoffmann-group.com/GB/en/houk/Power-tools-and-workshop-supplies/Soldering-tools-cleaning-devices-thread-repair/Thread-insert-set%2C-10-or-20-pieces-1-5×D/p/082812-M3?tId=438)|1,5xD<br>Böllhoff 41890030045|
|Vicon Markers Ø 9,5mm | 13 |[Vicon Distributors](https://www.vicon.com/contact/)|Reflective Vicon Marker, solid, on plastic foot, Ø 9,5mm|
|Fasteners Vicon Markers<br>M4x10 Set Screw | 13 |[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/DIN-913-Gewindestifte-mit-Innensechskant-und-Kegelkuppe-aehnl.-ISO-4026/Edelstahl-Rostfrei-A2/M-4-Gewinde-M-metrisches-Gewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|

## Preparing the 3d printed parts
<img src="details/body_structure_preparation_1.png" width="400"> <br>

<img src="details/body_structure_preparation_2.png" width="400"> <br>

<img src="details/body_structure_preparation_3.png" width="400"> <br>

<img src="details/body_structure_preparation_4_rev_a.png" width="400"> <br>

<img src="details/body_structure_preparation_5.png" width="400"> <br>

## Quadruped Robot Wiring Details

<img src="details/wire_routing_bottom.jpg" width="400"><br>*Wiring Quadruped Robot - Bottom View*<br>

* The wiring of the robot is described on a separate page: [Details Electronics 12dof Quadruped](details/details_electronics_quadruped_12dof.md#details-electronics-quadruped-robot-12dof-v1)

## Micro Driver Stack Motor Assignment
<img src="details/front_stack_motor_assignment_1.png" width="500">   

---
<img src="details/hind_stack_motor_assignment_1.png" width="500">   

| Joint ID | Joint Name | Motor Driver Card | Motor Port |Motor Index |
| --- | --- | --- | --- | ---|
|0|FL_HAA|0|0|0|
|1|FL_HFE|1|1|3|
|2|FL_K|1|0|2|
|3|FR_HAA|0|1|1|
|4|FR_HFE|2|1|5|
|5|FR_K|2|0|4|
|6|HL_HAA|3|0|6|
|7|HL_HFE|4|1|9|
|8|HL_K|4|0|8|
|9|HR_HAA|3|1|7|
|10|HR_HFE|5|1|11|
|11|HR_K|5|0|10|

## Vicon Object
<img src="details/vicon_solo_12_1.jpg" width="350"> <br>*Body Structure Center Plate with Vicon Markers - weight: 43g*  

* You can use this Vicon object for base state estimation
* It can be installed instead of the Body Structure Center Plate
* You can download the Vicon Object here: [Solo12 Vicon Object](details/vicon_object_quadruped_12dof.zip)

<a href="details/solo_12_body_structure_center_vicon.PDF"><img src="details/solo12_vicon_marker_coordinates.png" width="450"></a><br>*Click on picture above to view the PDF drawing*

## Robot Coordinate System Origin
<img src="images/quadruped_12dof_origin.png" width="500"> <br>

* more information about the conventions that we use for our robots: [Conventions](../general/conventions.md#conventions)

## Inertial Sensor Origin Position
<img src="images/imu_location_1.png" width="500"><br>*IMU Mounting Position - the IMU is colored red in the screenshot above.*<br>

* the IMU is mounted in the front of the robot
* the label on the IMU is pointing downwards (see picture below)
* the coordinate systems of the IMU and the Quadruped Robot have the same orientation - more information here: [Coordinate System Conventions](../general/conventions.md#conventions)
* the offset between the coordinate systems is documented below
* the IMU origin is **not** in the geometrical center of the IMU
* [IMU Technical Drawing - see Page 2](https://s3.amazonaws.com/download.microstrain.com/Drawings/3065-0291-ICD.pdf)

|IMU Origin Position in the<br>Robot Coordinate System| X | Y | Z |  
| --- | --- | --- | --- |
||104,07mm|-6,35mm|15,40mm|

<img src="images/imu_mounting.jpg" width="350"><br>

## Simplified 3D Model

The simplified STL files for visualization and simulation can be found here: [STL Files Visualization](stl_files_for_visualization)

<img src="images/solo12_coordinate_systems.png" width="500">

<a href="details/solo12_visualization_model.pdf"><img src="images/solo12_coordinate_system_locations.png" width="500"></a><br>*Click on picture above to view the PDF drawing*

## Quadruped Inertia Parameters for Simulation
<a href="details/quadruped_12dof_v1_inertia.pdf"><img src="images/solo12_inertia_parameters.png" width="400"></a><br>*Quadruped Inertia Parameters - Click on picture to view PDF document.*<br>

## Robot Stand

<img src="images/stand_quadruped_12dof_1.jpg" width="400"><br>

| Part Name | Quantity | Ordering Information | Comments |  
| --- | --- | --- | --- |
|Stand Fork|2|[STL file](stl_files/stand_fork.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Stand Foot|4|[STL file](stl_files/stand_foot.STL)|[3d printed part](../actuator_module_v1/details/details_3d_printed_parts.md#details-3d-printed-parts)|
|Slotted Profile Vertical|2|[Item 7.0.000.09](https://product.item24.de/en/products/product-catalogue/productdetails/products/line-8-construction-profiles-1001042794/profile-8-40x40-e-natural-7000009/) or<br>[Item 0.0.641.61](https://us-product.item24.com/en/productdetails/products/profiles-and-accessories-1001043003/profile-kh-8-40x40-anthracite-64161/)|Size 8 - 40mm x 40mm<br>Length: 40cm<br>Aluminum or Wood-PP composite|
|Slotted Profile Horizontal|1|[Item 7.0.000.09](https://product.item24.de/en/products/product-catalogue/productdetails/products/line-8-construction-profiles-1001042794/profile-8-40x40-e-natural-7000009/) or<br>[Item 0.0.641.61](https://us-product.item24.com/en/productdetails/products/profiles-and-accessories-1001043003/profile-kh-8-40x40-anthracite-64161/)|Size 8 - 40mm x 40mm<br>Length: 35cm<br>Aluminum or Wood-PP composite|
|Angle Bracket|4|[Item 0.0.411.15](https://product.item24.de/en/products/product-catalogue/productdetails/products/angle-brackets-zn-1001046547/angle-bracket-set-8-40x40-41115/)|90 degree angle bracket 40mm|
|Fastener Stand Fork<br>M8x25 Flat Head Screw|2|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-10642-DIN-7991-Senkschrauben-mit-Innensechskant-aehnl.-DIN-7991/Edelstahl-Rostfrei-A2/M-8-Gewinde-M-metrisches-Gewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Fastener Stand Foot<br>M5x20 Socket Head Cap Screw|8|[Online Schrauben](https://online-schrauben.de/shop/Schrauben/Innensechskantschrauben/ISO-4762-DIN-912-Zylinderkopfschrauben-mit-Innensechskant-aehnl.-DIN-912/Edelstahl-Rostfrei-A2/M-5-Gewinde-M-metrisches-Regelgewinde)|Stainless steel.<br>Online Schrauben ships within Europe.|
|Rubber Feet|4|[RS 173-5948](https://export.rsdelivers.com/product/rs-pro/fsq821-bl-50/rs-pro-round-anti-vibration-feet-206mm-pur/1735948)|Square Feet <br>20.6mm x 20.6mm x 7.6mm|

<img src="images/quadruped_12dof_on_stand_1.jpg" width="450"> <br>*12dof Quadruped Robot on Stand*

## Robot Calibration
<img src="details/calibration_tool_12dof_2.png" width="400">

* [Details Quadruped 12dof Calibration Tool](../general/robot_calibration.md#calibration-tool-quadruped-12dof)

## View the Quadruped CAD Model in your Web Browser
<br>

<a href="https://open-dynamic-robot-initiative.github.io/cad_files/quadruped_12dof"><img src="details/solo12_quadruped_standing.png" width="400"></a><br>*Quadruped Robot 12dof standing - Click on picture to view the cad model in your browser*

<a href="https://open-dynamic-robot-initiative.github.io/cad_files/quadruped_12dof_folded"><img src="details/solo12_quadruped.png" width="400"></a><br>*Quadruped Robot 12dof sitting - Click on picture to view the cad model in your browser*

<a href="https://open-dynamic-robot-initiative.github.io/cad_files/quadruped_12dof_body_structure"><img src="details/body_structure_cad_1.png" width="400"></a><br>*Quadruped Robot 12dof Body Structure - Click on picture to view the cad model in your browser*

## CAD Files

The Solidworks CAD files are available here: [Quadruped 12dof v1 Solidworks CAD files](solidworks_files/quadruped_12dof_v1.zip)

## 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