All Terrain Autonomous Quadruped
Venom is a 12-DOF unmanned Quadruped(four legged robot) equipped with 12 Servo Actuators an ARM Processor for onboard computations.
The Quadruped is based on Sprawling type motion with creep and trot gait successfully implemented on it.
This is a part of research project in Legged Mobility at Society of Robotics and Automation, VJTI.
Demo Video
venom = Quadruped(servoId) # Servo ID Array
venom.setParams(dirVector,FixedPoints)# Servo Direction and Set Points
venom.go2CreepStartPosition()
input("Press Enter") # Wait for user Input
# For CREEP GAIT
venom.walk(CREEP)
# For TROT GAIT
venom.walk(TROT)
https://github.com/chinmaynehate/Venom.git
Install dependencies
$ python3 -m pip install numpy adafruit_servokit busio sympy
Chinmay Nehate | Suyash More | Shashank Deshmukh |
---|---|---|
github.com/chinmaynehate |
github.com/SuyashMore |
github.com/shanks-d |