ROS Robot Dog

September 27, 2024

The ROSPug robot dog is a new quadruped robot developed by Hiwonder. Built on the Robot Operating System (ROS), ROSPug is designed to offer advanced capabilities and versatility for both educational and research purposes. ROSPug is powered by the NVIDIA Jetson Nano controller, which provides robust computing power for various applications. It is equipped with 12 high-voltage strong-magnetic serial bus servos, ensuring high-precision performance, rapid rotation speed, and robust torque. Additionally, it integrates a range of high-performance components, including a TOF Lidar, HD camera, IMU sensor, and OLED display.

This robot dog features an HD wide-angle camera and utilizes the OpenCV library for efficient image processing. This enables a diverse range of AI applications, such as target recognition, localization, line following, obstacle avoidance, face detection, ball shooting, color tracking, and tag recognition.

ROSPug can be controlled through multiple methods, including the WonderROS app available for Android and iOS devices, PC software, or a wireless PS2 handle. This flexibility allows users to choose the control method that best suits their needs.

The ROSPug robot incorporates an inverse kinematics algorithm, offering precise control over the touch time, lift time, and lifted height of each leg. Users can easily adjust these parameters to achieve different gaits, including ripple and trot. Detailed analysis of inverse kinematics, along with the source code for the inverse kinematics function, is provided. ROSPug supports Gazebo simulation, providing users with a valuable platform to learn and validate quadruped kinematics algorithms and path planning.

Thanks to the robust computing power of its controller, ROSPug can perform tasks such as SLAM mapping navigation, path planning, dynamic obstacle avoidance, climbing, and obstacle bypassing. Hiwonder also offers solutions for expanding ROSPug’s capabilities, including deep learning, machine vision, and other development projects to meet users’ specific needs.

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