dapiddler / Denji

17DOF Biped Robot (Raspberry Pi/Maestro Servo Controller)

Denji

https://www.piddlerintheroot.com/project-denji/

Origin: Japan. Meaning: One who has electromagnetic powers

Synopsis

A 17DOF Biped Robot that utilizes a Raspberry Pi Zero and Maestro Servo Controller. Designed with a microservices architecture in mind.

Code Example

class Step(Resource):
    def get(self):
        servo.runScriptSub(2)
        print("step")
        return {'postion': 'forward step'}
api.add_resource(Step, '/step')

Motivation

Create a biped robot platform that utilizes the python programming language that can be easily built upon:

1. API
2. Wifi/Voice Control
3. Camera (future)
4. Integrate Gyroscope/Reinforcment Learning (future)

Installation

1. Configure Serial Interface for RPI Zero and upload "denji_maestro_script.txt" to servo controller: https://www.youtube.com/watch?v=6EGSsxPzXO0

2. Clone Repo to RPI

3. Install Dependencies

pip install requirements.txt

4. Edit denji_client.py with RPI hostname and install nmap

sudo apt get install nmap

5. Run denji_server.py on RPI and denji.client.py on remote computer (LAN)

Maestro Library

https://github.com/FRC4564/Maestro

Usage

Keyboard controls:

• W - Take a Step
• C - Crouch
• S - Neutral Standing Position
• T - Taunt

License

MIT