Name: 仿生四足機器狗
SKU: 6261088e770530001c130654
Price: 9850.0
Availability: InStock

仿生四足機器狗

版本：
A.【ROH0035】【ESP32 升級版】
B.【ROH0036】【進階(Pi 4)款】

● 高自由度動作更靈活
● 超緊湊結構設計
● 姿態自平衡
● 登入網頁就可遠端控制

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【產品簡介】

仿生四足機器狗是一款具有高自由度的仿生機器人，採用2.3kg.cm大扭力伺服機，結構可靠、動作靈活豐富，結合了攝影機、9軸運動感測器、RGB 等設備於一身並開源了可跨平臺使用的 Web 應用。

以ESP32作為下位機進行連桿逆解和步態生成，為上位機分擔算力，可以安裝樹莓派作為上位機來運算高階決策。

The WAVEGO is a high-DOF bionic dog-like robot that features 2.3kg.cm large torque servos, reliable structure, and flexible motion, incorporating devices like front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as a sub-controller for connecting rod inverse solving and gait generation, sharing calculating tasks for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.

【產品特色】

高自由度動作更靈活

全機 12個自由度，腿部採用多連桿腿部結構 + 逆運動學演算法，可大幅提升伺服機有效扭力

High-DOF, More Flexible Motion

Overall 12-DOF, Multi Connecting Rods Leg Design + Inverse Kinematics Algorithm,

Significantly Increasing The Servo Effective Torque

超緊湊結構設計

結構件由 5052 鋁合金和 PA12 尼龍件組成，全身各關節共使用 40 組軸承，結構堅固可靠，減輕重量的同時也保持強度。

Ultra Compact Structure Design

5052 Aluminum Alloy And PA12 Nylon Structure Materials, 40 Sets Of Bearing Joint All Over The Body,

Rugged And Reliable Structure, Ensuring Strength While Keeping It Light Weight

姿態自平衡

內建高精度 9 軸運動感測器 ICM20948可以適應各種地形環境，控制自身平衡，盡可能保持攝影機水平狀態

Self-Balancing Posture

Embedded High Precision 9-Axes Motion Tracker ICM20948

Accommodating To Different Terrains, Keeping The Camera Stable By Self-Balancing

500萬像素 160度廣角攝影機 *

可使用人臉辨識/顏色追蹤/運動偵測等以OpenCV為基礎開發的功能

* 僅升級版和 PI4 版有包含攝影機模組

5MP 160° Wide Angle Camera

Allows Using OpenCV-Based Functions Like Facial Recognition, Color Tracking, Motion Detection, And More

登入網頁就可遠端控制

不需要手動配置編譯環境，開機自動建立WIFI熱點

可使用手機或電腦瀏覽器連接並登入到控制頁面，不需要下載app

Remote Control Via Web

Auto-Generated WiFi Hotspot On Startup, Needs No Compiling Environment Configuration,

Allows Connecting To And Login The Control Page Via Smartphone Or PC Browser, Without Installing App

高階開發功能

可以安裝樹莓派作為上位機通過串口與下位機通訊

ESP32作為下位機可以分擔很多連桿逆解和步態生成的算力，留給樹莓派更多的資源用在高階功能開發

Developing High-Level Functions

An Raspberry Pi Can Be Attached As Host Controller To Communicate With The Sub Controller Via UART,

The ESP32 Sub Controller Will Share Lots Of Calculating Task Like Connecting Rod Inverse Solving And Gait Generation, Retaining More Raspberry Pi Performance For Developing High-Level Functions

【產品規格】

	ESP32 升級版	進階版(Pi 4)
Basic Pack	√	√
Expension Pack	√	√
PI4-4GB Add-on		√

12個自由度，動作更加靈活豐富。
多連桿腿部結構+逆運動學演算法，提升伺服機有效力矩。
ICM20948九軸運動感測器，可使用自平衡模式。
2.3kg.cm大扭力伺服機，堵轉扭力高達5.2kg.cm，可擴充性更強。
ESP32配有OV2640攝影頭元件，配合2.4G外接天線可實現低延遲影像傳輸。
結構件由5052鋁合金和PA12尼龍件組成，全身各關節共使用40組軸承，結構更加堅固可靠。
內建多種互動設備，包括0.96英吋 OLED螢幕、兩顆RGB-LED指示燈，有源蜂鳴器等。
範例代碼使用ArduinoIDE開發，不需要手動配置編譯環境，ESP32開機自動建立WIFI熱點，可使用手機（Android/iOS）或電腦（Linux/Windows/Mac）連接並登入到控制頁面，只需安裝Chromium核心的瀏覽器即可，不需要額外下載app。
內建充電介面和自動下載電路，你可以邊充電邊使用。
內建兩節串聯18650鋰電池，5200mAh大容量，輸出電流更大，伺服機動力更強。
內建鋰電池保護電路，具有防過充、防過放、防過流和短路保護功能。
內建AINA219採集晶片，方便即時監控電池電壓，充電電流。
為ESP32的剩餘IO腳位和串口預留有2組5Pin擴充介面，功能包括RGB擴充，RX0,TX0,G21,G15,G12,3V3,5V,GND，可用於與上位機通訊或外接其它設備。
可以安裝樹莓派作為上位機透過串口與下位機通訊，ESP32作為下位機可以分擔很多連桿逆解和步態生成的算力，留給樹莓派更多的資源用於高階功能開發。
樹莓派套件配有散熱風扇和超廣角鏡頭，樹莓派的範例包括以Flask-Streaming開發的網頁介面應用，可使用人臉辨識/顏色追蹤/運動偵測等用OpenCV為基礎開發的功能。
全部代碼開源並提供豐富的開發文件和教學

12 degrees of freedom, the action is more flexible and rich.
Multi-link leg structure + 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 OV2640 camera, which can realize low-latency image transmission with 2.4G external antenna.
The structural 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, including 0.96inch OLED screen, two RGB-LED indicators, active buzzer, etc.
The example code is developed using Arduino IDE, no need to manually configure the compilation environment, 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, just install A Chromium-based browser is enough, no app download is required.
With charging interface and automatic download circuit, you can use it while charging.
Onboard two series 18650 batteries, 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, 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 developed based on Flask-Streaming, which can use the functions developed based on OpenCV such as face recognition/color tracking/motion detection.
All codes are open source and provide rich development documents and tutorials.

【擴充板介紹】

【元件介紹】

【外型尺寸】

基本資訊
站立	長 218mm, 寬 116mm, 高 152mm
趴下	長 228mm, 寬 116mm, 高 127mm
重量	ESP32：465g (含電池)
重量	Pi 4：554g (含電池)
DOF	全機 12 , 單腿 3
作業系統
範例程式	FreeRTOS + Raspberry Pi OS
運動性能
支援動作	握手 \| 站立 \| 緩慢蹲下 \| 斜角行走 \| 跳躍 \| 自平衡
動作擴展	提供動作設計程式，包含柔性貝茲曲線速度動作函數
最大負載	基礎(ESP-32)版: 300g
最大負載	進階(Pi 4)版: 200g
伺服機資訊
尺寸	23.2 x12.1 x25.25 mm
重量	13.0 ± 1g
工作電壓	6V
空載速度	0.1sec/60° (100RPM)
堵轉扭力	2.3kg.cm (31.99oz.in)
額定負載	0.7kg.cm
額定電流	350mA
控制方式	Pulse width modification
控制系統類型	Digital comparator
視覺功能
FreeRTOS 範例	網頁介面的即時影像傳輸
Raspbian OS 範例	即時影像傳輸 \| 人臉辨識 \| 顏色追蹤 \| 運動物體檢測
注：全部代碼已經開源，Raspbian OS 中程式是以flask-streaming和OpenCV為基礎去開發
處理器和儲存
ESP32	處理器 : Xtensa LX6 dual-core processor @240MHz
	SRAM : 520KB+8MB
	Flash : 448KB+4MB
其他
WiFi	802.11b/g/n
藍牙	藍牙 4.2，包含傳統藍牙 (BR/EDR) 和低功耗藍牙 (BLE)
外部裝置	2 * 5Pin多功能擴充介面（上位機通訊和供電、組裝模式選擇等）
	DC 充電口
	Type-C（下載、串口通訊、外部擴充）
電源參數	電池類型 : 18650 鋰電池
	輸出電壓 : 7-8.4V
	充電電壓 : 8.4V
	單顆電池容量：2600mAh
	電池保護：防過充、防過放、防過流、防短路和防反接，均衡充電，工作穩定更安全
	輸出電壓：可輸出 5V 電源，方便給其他控制板供電