RPI WAVEGO ACCE (EU) kit for building quadruped robot for Raspberry Pi - Waveshare 21783

Description

WAVEGO is a bionic dog-like robot. Equipped with high torque servos 2.3 kg*cm, it has a reliable structure and devices such as front camera, 9-axis motion sensor and RGB indicator. It uses the ESP32 module as a slave controller to solve inverse kinematics and generate gait. An additional Raspberry Pi can be included as a host controller to implement high-level functions such as image, motion, and color recognition.

The multi-joint design has 12 degrees of freedom, and the applied algorithms significantly increase the effective torque of the servos. It is made of an aluminum alloy and PA12 nylon, which, with the use of 40 sets of bearings, ensures durability and lightness of the structure.

Built-in precision 9-axis motion sensor ICM20948, adapted to different terrain conditions, maintains stability thanks to the self-balancing function.

The set uses a camera with a resolution of 5 MP with a wide-angle lens with a viewing angle of 160 °, thanks to which it is possible to implement face, movement or color recognition algorithms.

The robot is controlled via a mobile application or a web browser thanks to an automatically generated Wi-Fi hotspot. It does not require environment configuration, it allows you to connect and log in to the website without installing the application.

The kit includes a holder that allows you to mount a Raspberry Pi minicomputer, which can be connected as a host controller and communicate with the auxiliary controller via UART. The ESP32 module is responsible for performing computing tasks and generating gait, so they will increase the performance of the Raspberry Pi to perform high-level functions.

The ESP32 module is located on the base board. The user will also find a power circuit, PWM driver, IMU sensor and flash memory on it.

Full documentation with numerous examples is available on the product page.

Features

• 12 DoF, 3 DoF for each leg
• Demo code for FreeRTOS + Raspberry Pi OS
• Available types of movement: paw pass, standing up, crouch, jump, self-balancing
• Load: 200 g
• Servomechanism:
  • Dimensions 23.2 x 12.1 x 25.25mm
  • Weight 13g
  • Working voltage 6V
  • Speed: 0.1s / 60 ° (100rpm)
  • Moment: 2.3 kg * cm
  • Rated load 0.7 kg * cm
  • Rated current 350 mA
  • PWM control method
• ESP32 module with a dual-core Xtensa LX6 @ 240 MHz processor
• SRAM: 520KB + 8MB
• Flash: 448KB + 4MB
• Wi-Fi 802.11b / g / n standard
• Bluetooth 4.2 standard including Bluetooth (BR / EDR) and Bluetooth Low Energy (BLE)
• 2x5 pin external port (communication with the host controller, power selection, mounting mode selection, etc.)
• Charging: DC jack
• USB Type-C socket (UART communication, peripherals)
• Power supply: 18650 lithium-ion batteries (not included)
• Supply voltage: 7 to 8.4V
• Charging voltage: 8.4V
• Over charge / discharge protection, over current protection, short circuit protection, reverse polarity protection
• Output voltage: 5V output for other host controller
• Dimensions: 218 x 116 x 152 mm
• Weight: 554 g

Kit contains

• WAVEGO case
• Basic parts of WAVEGO
• Raspberry Pi holder
• 5MP wide angle camera
• Cooling fan
• Translucent acrylic panel
• Double-sided sticker
• 14 x Micro Thrust Bearing
• 30 x Ball flanged bearing
• WAVEGO base plate
• 2MP camera
• 2.4G antenna
• 0.91 inch OLED display
• Screwdriver
• Wrench cap
• 4PIN PH2.0 cable
• IPEX 1 to SMA cable 17cm
• Connecting cable 20cm
• 1m USB cable
• Servo package
• 8.4V 2A charger
• Bolts and spacers