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OK1-QuadrupedRobot

★ 32 Open GitHub ↗

Quadruped Robot based on Arduino, also ROS&Gazebo supported...

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# Quadruped Robot Project

1. [Overview](#overview)
2. [Features](#features)
3. [Folder Structure](#folder-structure)
4. [Enjoying OK1 Robot (Video)](#enjoying-ok1-robot-video)
5. [Getting Started for ROS and Gazebo](#getting-started-for-ros-and-gazebo)
    - [Clone the Repository](#1-clone-the-repository)
    - [Navigate to the ROS Workspace](#2-navigate-to-the-ros-workspace)
    - [Build the ROS Workspace](#3-build-the-ros-workspace)
    - [Source the Workspace](#4-source-the-workspace)
    - [Launch the Robot](#5-launch-the-robot)
6. [OK1 Robot Simulation (Video)](#ok1-robot-simulation-video)
7. [3D Printing Files and Assembly Instructions](#3d-printing-files-and-assembly-instructions)
    - [OK1 Printings](#ok1-printings)
    - [Remote Controller Printings](#remote-controller-printings)
    - [ELECTRONICS for OK1](#electronics-for-ok1)
    - [ELECTRONICS for Remote Controller](#electronics-for-remote-controller)
    - [HARDWAREs](#hardwares)
    - [EXTERNALS](#externals)
8. [Electronics Assembly](#electronics-assembly)
9. [Wiring Instructions](#wiring-instructions)
10. [Arduino Code Compiling and Uploading](#arduino-code-compiling-and-uploading)
11. [Remote Controller Usage Instructions](#remote-controller-usage-instructions)

## Overview

This project implements a quadruped robot named OK1 using Arduino, with support for ROS and Gazebo simulation. The robot is designed to walk on four legs and can be controlled both physically and through software.

## Features

- Quadruped robot hardware based on Arduino Mega 2560.
- A Remote Controller
- ROS (Robot Operating System) support for high-level control and communication.
- Gazebo simulation environment for testing and development.
- Modular and extensible design for customization.

## Folder Structure

- **`/CAD-Hardware`**: Contains 3D printing files for the robot parts.
- **`/Arduino`**: Arduino code for controlling the robot.
- **`/ROS_ws`**: ROS packages for communication and control.
- **`/media`**: Some useful images for implementation.

![render0](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/assets/53236244/e8f19957-b274-43f2-a274-e71f6e638073)

## Enjoying OK1 Robot (Video)

[![We are enjoying OK1 Robot.](https://img.youtube.com/vi/7ynvawNMwWk/0.jpg)](https://www.youtube.com/watch?v=7ynvawNMwWk&ab_channel=%C3%96merKurkutlu)

## Getting Started for ROS and Gazebo

Follow these steps to get started with the ROS and Gazebo simulation environment for the OK1 Quadruped Robot:

1. **Clone the Repository:**

```bash
    git clone https://github.com/omerKurkutlu/OK1-QuadrupedRobot.git
    ```

2. **Navigate to the ROS Workspace:**

```bash
    cd ROS_ws
    ```

3. **Build the ROS Workspace:**

```bash
    catkin_make
    ```

4. **Source the Workspace:**

```bash
    source ./devel/setup.bash
    ```

5. **Launch the Robot:**

- For Rviz Visualization:

```bash
        roslaunch ok1_moveit_config demo.launch
        ```

- For Gazebo Simulation:

```bash
        roslaunch ok1_moveit_config demo_gazebo.launch
        ```

These commands will set up the necessary environment for ROS and Gazebo, allowing you to visualize and simulate the OK1 Quadruped Robot. Make sure to follow the instructions carefully, and feel free to explore the ROS workspace for additional details.
 
![r1](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/assets/53236244/10049687-1cb5-4f1a-949e-f875c591d6bd)

## OK1 Robot Simulation (Video)
[![OK1 Robot - Quadruped Robot Gazebo Simulation](https://img.youtube.com/vi/0DxQdT6U4pM/0.jpg)](https://www.youtube.com/watch?v=0DxQdT6U4pM&list=PLxYZuRPj6mQbpEWxYQ2gAdy5SrHOGtlZl&ab_channel=%C3%96merKurkutlu)
[![OK1 Robot - Quadruped Robot based on ROS and MoveIt](https://img.youtube.com/vi/SKkTH99PJiU/0.jpg)](https://www.youtube.com/watch?v=SKkTH99PJiU&list=PLxYZuRPj6mQbpEWxYQ2gAdy5SrHOGtlZl&index=2&ab_channel=%C3%96merKurkutlu)

## 3D Printing Files and Assembly Instructions

You can find the 3D printing files in the designated folders. Feel free to explore the following directories:

- [Folder 1: OK1 Printing Files](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/tree/main/CAD-Hardware/OK1-stl)
- [Folder 2: Remote Controller Printing Files](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/tree/main/CAD-Hardware/Remote-stl)

Additionally, assembly instructions are available in a series of video tutorials. Follow the steps in the video series linked below:

[Assembly Video Series](https://www.youtube.com/watch?v=DqhxIvC9eWk&list=PLxYZuRPj6mQb903nfbroYomobq1NtwxHy&pp=gAQBiAQB)

[You can enjoy Solidworks Assembly Video Series](https://www.youtube.com/watch?v=uvvxWS9CNvI&list=PLxYZuRPj6mQaa-p4TQK3fZpWwg_Pw1YFy&pp=gAQBiAQB)

### OK1 Printings

| NO. | Part Name                             | QTY. |
| --- | ------------------------------------- | ---- |
| 1   | Chassis_Sholder_plate_Rear            | 2    |
| 2   | Chassis_Sholder_plate_Front           | 2    |
| 3   | Chassis_plate_for_electronics        | 1    |
| 4   | Chassis_plate_for_battery            | 1    |
| 5   | Chassis_side_plate_with_socket_hole  | 1    |
| 6   | Chassis_side_plate                   | 1    |
| 7   | Chassis_bridge_upper                 | 2    |
| 8   | Chassis_brigde_lower                 | 2    |
| 9   | cover_back                           | 1    |
| 10  | cover_front                          | 1    |
| 11  | cover_upper                          | 1    |
| 12  | cover_bottom                         | 1    |
| 13  | cover_face                           | 1    |
| 14  | Leg_lowerLeg_Left                    | 2    |
| 15  | Leg_UpperLeg_Left                    | 2    |
| 16  | Leg_upperLeg_ServoConnector_left     | 2    |
| 17  | Chassis_sholder                      | 4    |
| 18  | shoe                                 | 4    |
| 19  | cover_upperLeg_liner_R               | 4    |
| 20  | Leg_lowerLeg_Right                   | 2    |
| 21  | Leg_UpperLeg_Right                   | 2    |
| 22  | Leg_upperLeg_ServoConnector_Right    | 2    |
|  | NUMBER OF PARTS | 41 |

### Remote Controller Printings
| NO.   | PART NAME            | QTY. |
| ---   | ---------------      | ---  |
| 1     | Back_Cover           | 1    |
| 2     | Remote_main_body_V2  | 1    |
| 3     | joystick_frame       | 3    |
|  | NUMBER OF PARTS | 5 |

### ELECTRONICS for OK1
| NO. | PART NAME               | QTY. |
| --- | ----------------------- | ---- |
| 1   | Arduino Mega 2560       | 1    |
| 2   | Relay Body              | 2    |
| 3   | NRF_module              | 1    |
| 4   | NRF_regulator           | 1    |
| 5   | lm2596board             | 1    |
| 6   | PowerDistributor        | 1    |
| 7   | battery                 | 1    |
| 8   | Regulator 10A DC-DC     | 4    |
| 9   | led                     | 6    |
| 10  | cam                     | 1    |
| 11  | Electronics_Switch      | 1    |
| 12  | Servo-DS3225MG          | 12   |
|  | NUMBER OF COMPONENTS | 32 |

### ELECTRONICS for Remote Controller
| NO. | PART NAME                | QTY. |
| --- | ------------------------ | ---- |
| 1   | Arduino Mega 2560        | 1    |
| 2   | NRF_module               |      |
| 3   | NRF_regulator            | 1    |
| 4   | Chassis-Front            | 1    |
| 5   | Chassis-Back             | 1    |
| 6   | lm2596 Board             | 1    |
| 7   | PowerDistributor Board   | 1    |
| 8   | battery 1.5 volt         | 4    |
| 9   | Battery case             | 1    |
| 10  | led(green&red)           | 2    |
| 11  | Nokia Screen 5510        | 1    |
| 12  | Remote_Switch            | 1    |
| 13  | JoyStick                 | 3    |
| 14  | Potansiometre            | 2    |
| 15  | Buttons                  | 8    |
| 16  | Robot_switch             | 1    |
| 17  | screws                   | 25   |

### HARDWAREs
| NO. | PART NAME    | QTY. |
| --- | ------------ | ---- |
| 1   | nut          | 4    |
| 2   | bearing      | 8    |
| 3   | Servo-horn   | 12   |
| 4   | screw-m3     | 30   |

### EXTERNALS
| NO. | PART NAME      | QTY. |
| --- | -------------- | ---- |
| 1   | LiPo Charger   | 1    |
| 2   | Box            | 1    |
| 3   | Jumpers        | 1    |
| 4   | Cables         | 1    |

## Electronics Assembly

Below is a simplified Fritzing schema providing an overview of the electronics assembly for the OK1 Quadruped Robot project. Please note that this schema is incomplete and serves as a starting point. Refer to the detailed schematics and documentation for accurate connections.

![ok1_v1_bb](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/assets/53236244/cb2b4673-b683-4042-9963-dafc73faf6dd)

You can also refer those images for electronics:

- [Image 1: OK1 Printing Files](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/blob/main/media/1.jpg))
- [Image 2: OK1 Printing Files](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/blob/main/media/2.jpg))
- [Image 3: OK1 Printing Files](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/blob/main/media/3.jpg))
- [Image 4: OK1 Printing Files](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/blob/main/media/4.jpg))

### Wiring Instructions

- Connect the components according to the Fritzing schema.
- Ensure proper power distribution and regulation.
- Check and cross-verify the connections with the detailed schematics.

## Arduino Code Compiling and Uploading

Before compiling and uploading the Arduino code for the OK1 Quadruped Robot, ensure that you have downloaded the required libraries. Follow these steps to set up and upload the code:

1. **Download Required Libraries:**

Open the Arduino IDE and navigate to `Sketch > Include Library > Manage Libraries...`. In the Library Manager, search for and install the following libraries:

- `Servo.h`
   - `MPU6050.h`
   - `Wire.h`
   - `PID_v1.h` (For self-balance which is not implemented in this version)
   - `SPI.h`
   - `nRF24L01.h`
   - `RF24.h`
   - `myServo_class.h` (Custom Library - No download required)
   - `Quadruped.h` (Custom Library - No download required)

Make sure to install the specific versions of the libraries if mentioned in your project documentation.

1. **Open the Arduino Sketch:**

Open the main Arduino sketch file located in the `/Arduino` directory of your project.

2. **Configure Arduino Board:**

Go to `Tools > Board` and select the appropriate Arduino board. Ensure that the correct port is selected under `Tools > Port`.

3. **Verify and Upload:**

- Click on the checkmark icon (`Verify`) to compile the code and check for any errors.
   - If the code compiles successfully, click on the right arrow icon (`Upload`) to upload the code to the Arduino board.

4. **Monitor Serial Output (Optional):**

Open the Serial Monitor (`Tools > Serial Monitor`) to view debug information and status messages if your code includes serial communication.

5. **Troubleshooting:**

If you encounter any issues during compilation or uploading, refer to the troubleshooting section in the project documentation or community forums.

Remember to customize the instructions based on the specific details of your project, including the names of libraries and any additional configurations users might need to make. If you have a specific troubleshooting section or documentation, it's a good idea to guide users there for more in-depth assistance.

## Remote controller usage instructions 
![remote](https://github.com/omerKurkutlu/OK1-QuadrupedRobot/assets/53236244/2ecdcddc-efc1-45f6-b638-c44f203aaf1d)

OK1-QuadrupedRobot

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