samuk / OpenCatEsp32

An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, and research.

OpenCatESP32

OpenCat code running on an ESP32 controller.

Hardware

3d parts https://www.thingiverse.com/thing:4015171

Servo https://www.tindie.com/products/alexchu/zio-16-servo-controller-qwiic/

Qwiic 6050 https://www.adafruit.com/product/3886

ESP32 https://www.adafruit.com/product/5426

User manual

Purchase link

Configuration:

The code from this repo + MicroROS with wifi transport. https://github.com/hippo5329/linorobot2_hardware#installation

ROS2 Quad https://github.com/reubenstr/zuko/tree/main/quad_ws

ESP32 Dev Module

• Upload Speed: 921600

• CPU Frequency: 240MHz(WiFi/BT)

• Flash Frequency: 80MHz

• Flash Mode: QIO

• Flash Size: 16MB

• Partition Scheme: Default 4MB with spiffs (we will add instructions on making larger partitions)

• Core Debug Level: None

• PSRAM: Disabled

Click the GIF to open the YouTube demo.