Wavego 12-DOF Bionic Robot

De WAVEGO is een bionische robot die beschikt over 2.3kg.cm grote torsie servo's en een betrouwbare structuur waardoor de robot een zeer flexibele beweging heeft. Door de aanwezigheid van o.a. een camera, een 9-assige motion tracker en diverse sensoren kan je de Wavego laten bewegen en aansturen via  met open source web applicatie. De Wavego maakt gebruik van een ESP32 als subcontroller en een Raspberry Pi 4 als host controller.

Features

• Multi-link leg structure and inverse kinematics algorithm, increasing the servo effective torque
• ICM20948 9-axis motion tracker, can use self-balancing mode
• 2.3kg.cm high-torque steering gear, the locked-rotor torque is up to 5.2kg.cm and the scalability is stronger
• ESP32 is equipped with an OV2640 camera which can realize low-latency image transmission with the 2.4G external antenna
• The body parts are composed of 5052 aluminum alloy and PA12 nylon parts. There are 40 sets of bearings used in each joint of the whole body, and the structure is firm and reliable
• Integrate a variety of interactive devices like a 0.96inch OLED screen, two RGB-LED indicators, an active buzzer, etc.
• The example code is developed by using Arduino IDE, there's no need to manually configure the compilation environment, the ESP32 will automatically establish a WIFI hotspot when it is turned on, you can use a mobile phone (Android/iOS) or computer (Linux/Windows/Mac) to connect and log in to the control page. A Chromium-based browser is enough, no app download is required
• With charging interface and automatic download circuit, you can use the robot while charging
• Onboard two series 18650 batteries(NOT included), 5200mAh large capacity, larger output current and stronger servo power
• Onboard lithium battery protection circuit with anti-overcharge, anti-over-discharge, anti-over-current and short-circuit protection functions
• The onboard AINA219 acquisition chip is convenient for real-time monitoring of battery voltage and charging current
• 2*5P expansion interface is reserved for the remaining IO and serial port of ESP32. The functions include RGB expansion, RX0, TX0, G21, G15, G12, 3V3, 5V and GND, which can be used to communicate with the host computer or connect to other devices.
• The Raspberry Pi can be installed as the upper computer to communicate with the lower computer through the serial port. As the lower computer(ESP32) can share a lot of computing power of the rod inverse solving and gait generation, leaving more resources for the Raspberry Pi for high-level function development
• The Raspberry Pi kit is equipped with a cooling fan and an ultra-wide-angle lens. The Raspberry Pi routine includes a web application based on Flask-Streaming, which can use the functions developed based on OpenCV such as face recognition, color tracking and motion detection
• All codes are open source and provide rich development documents and tutorials