Quadrupedal Robot [Freely Walking on Irregular Terrain!]

basic information

Product weight (with battery): approximately 22 kg Dimensions (standing): 0.55 x 0.35 x 0.6 m Dimensions (folded transport mode): 0.56 x 0.35 x 0.31 m Load capacity: ≥10 kg Maximum speed: 1.4 m/s (lifting enabled) Tilt angle: ≥22° Battery weight: 4.4 kg Flat ground travel time: ≥5 h Battery capacity: 13000 mAH x 51.8V Maximum charging current: 10 A (full charge in approximately 1.3 hours) Single motor weight: approximately 840 g Degrees of freedom (number of motors): 12 Foot force sensor resolution: approximately 20 g Foot force sensor dimensions: 1 Number of foot force sensors: 4 Operating temperature: 0℃ to 40℃ Degrees of freedom (number of motors): 12 Flat ground travel power consumption: approximately 150 W~200 W ROS OS (operating system) Robot Ubuntu (real-time) One leg has a cooling system Zero power control mode (body-following mode) Wireless hardware emergency stop function Robot can output from two power sources Gesture recognition Map building Navigator planning Autonomous positioning Start with OEN switch

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Applications/Examples of results

【Various Movements Possible】 Quadruped robots are capable of various movements such as standing up, squatting, moving forward, moving backward, and twisting. 【Target Tracking】 They can follow a target person and switch gestures or target individuals according to movements. 【Applicable for Various Uses】 - Various events - Security services - Delivery services - Companion care

Detailed information

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  【3D Environment Construction】 The robot acquires color and depth information of the surrounding environment using visual sensors (cameras) while in motion, and reconstructs the three-dimensional spatial information of objects through specific visual algorithms. 【Probabilistic Map】 While moving, the robot detects the surrounding environment using visual sensors (cameras) and constructs an octomap (probabilistic map) by feeding back obstacle data. 【Dynamic Obstacle Detection】 When the robot encounters dynamic obstacles, it updates the map data within a certain range and discards "motion artifacts" where dynamic obstacles remain on the map. 【Overall Positioning】 During the map creation process, the robot performs overall and local real-time positioning functions, with the map display module following the camera's field of view in real-time, and the map supporting operations such as real-time zooming, panning, and arbitrary rotation. 【Loop Closure Detection】 The robot can maintain high loop accuracy in extensive scenes, sustain high positioning accuracy within a certain range, and remain stable within a certain vibration range, ensuring no drift and preventing loss.