A Robot Dog Built from Scratch
Building a quadruped robot from scratch is a huge undertaking for a hobbyist. There are the mechanics, electronics, motion control, perception, navigation, and a whole lot of software tying everything together. Developer Ashish Agrahari decided to tackle all of that himself with Orion, an impressive ROS 2-powered robot dog that took him eight months to build.
Orion has 12 degrees of freedom, with three actuated joints on each of its four legs. Agrahari designed the chassis in SolidWorks and 3D-printed the parts, while bearings support all 12 joints. The feet were made using two-part silicone molds, and magnetic mounts provide tool-free access to the electronics inside. Before assembling the complete robot, Agrahari built a single-leg test rig on a linear rail so he could work out inverse kinematics and gait control without repeatedly sending the entire robot crashing to the floor.
The control board (📷: Ashish Agrahari)
The brains of...
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