I love this design. it would be great if you could share 3d files and software for us. I plan to build a similar robot myself and it would make my work incredibly easier if I had a pattern, a base for building my own
Absolutely fascinating. I love to take a look into the GitHub repository, you have for sure created for this project. Containing everything regarding your project, like documentation, software and CAD Files, concentrated at a single point. There have to be allready some more versions by now, from which your design will improve and get even better by the time. Just one single year should be enough, to replicate the project and start participating and contributing in the development process. I really think that your open source approach is the way to go for complex private projects that will only benefit from every single new contribution that is made by a worldwide community. You have my upmost respect as a software engineer from germany, for the project you have created and realized here. Even if most essential components like ROS and the Cheeta motor driver/design were alteady existing and freely available for some time now, it's amazing to see someone designing all the parts in CAD from scratch, build complete Motor assemblies and finally create a completely 3D printed prototype . That's an insane accomplishnent and i can not say anything other than offer you my respect for what you have created. Additionally you created and published this and some more videos about this project to let everyone see the result. I really ❤ that !
Thank you so much! I've started using Champs because it seems very complete and it's easy to integrate with a real robot, but there are a few other different controllers that might be interesting to try as well.
Yes, it's a long job to do all that by myself. But I've learned a lot along the way :-D Now I'm trying to make the actuators out of metal to make it more reliable in the long term.
@@ap2372 Thanks for the comment! Yes, increasing the stator diameter to 10010 would get much more torque, but winding all the actuators again would be very tedious. I'm currently working on making a new all-metal actuator with a small homemade CNC and I'm going to increase the ratio from 4:1 to 6:1 I will have less speed, but from my tests I think it is still enough.
I would suggest you to use metal or alloy casings for the actuators in order to deal with the problem of overheating. And for the rest great progress..... Good job.......
Thank you so much! Yes, I'm precisely working on an update to make the core of the actuator aluminum, but I've never worked with CNC and I still don't know how it can turn out.
Thanks you so much! You could adjust the PIDs parameters so that it was a little more rigid when walking, but I'm still trying things to make the walk better.
Awesome as always!! since all 4legged robot dogs that are currently in the market also looks like jor-dog, can you create a tail for him that wags on command or based on certain movement? :DD
I love this design. it would be great if you could share 3d files and software for us. I plan to build a similar robot myself and it would make my work incredibly easier if I had a pattern, a base for building my own
Great work. Its nice that you explain you work and process so far, it helps so many young engineers who are just starting out.
Thank you so much!
That is one of the reasons why I show my work, to inspire other people with similar concerns.
Absolutely fascinating. I love to take a look into the GitHub repository, you have for sure created for this project. Containing everything regarding your project, like documentation, software and CAD Files, concentrated at a single point.
There have to be allready some more versions by now, from which your design will improve and get even better by the time. Just one single year should be enough, to replicate the project and start participating and contributing in the development process. I really think that your open source approach is the way to go for complex private projects that will only benefit from every single new contribution that is made by a worldwide community.
You have my upmost respect as a software engineer from germany, for the project you have created and realized here. Even if most essential components like ROS and the Cheeta motor driver/design were alteady existing and freely available for some time now, it's amazing to see someone designing all the parts in CAD from scratch, build complete Motor assemblies and finally create a completely 3D printed prototype . That's an insane accomplishnent and i can not say anything other than offer you my respect for what you have created.
Additionally you created and published this and some more videos about this project to let everyone see the result.
I really ❤ that !
Hey, this is the best I've seen so far, extremely good job!
Thanks so much!
Este trabajo es exellente!
Muchas gracias 😄
Great Work Sir .
Awesome work
Finally a new vid, man I've been waiting for this from so long
Yes, I couldn't upload the video before. Let's see if it's possible to upload videos more often
@@Jorgefer88 sure man, I'll be eager to watch
GREAT JOB!!! Congratulation!! I'm waiting the next video!! 👏👏👏
Thank you very much for supporting me and always being by my side ❤
Wonderful! How much does each actuator cost to make?
A very good video with explanations . Now I want to run champ on my xiaomi cyberdog robot
Thank you so much!
I've started using Champs because it seems very complete and it's easy to integrate with a real robot, but there are a few other different controllers that might be interesting to try as well.
Wow, you hand-wound all those bldcs, and created a custom motor controller, and printed and assembled the pcbs, all solo?
Yes, it's a long job to do all that by myself. But I've learned a lot along the way :-D
Now I'm trying to make the actuators out of metal to make it more reliable in the long term.
Good Project. Love it. Already Subscribed your Channel. Keep Up !
Amigo no haz publicado los archivos de impresion 3D
That's great! I am happy to follow your progress. Are you planning to transfer the project to open source?
Thank you so much! At the moment I have not considered it, perhaps in the future.
If the motors get hot it means they need less current density and larger diameters to produce the same torque
Or you keep everything the same but you increase the gear ratio and the speed of the motor
@@ap2372 Thanks for the comment!
Yes, increasing the stator diameter to 10010 would get much more torque, but winding all the actuators again would be very tedious.
I'm currently working on making a new all-metal actuator with a small homemade CNC and I'm going to increase the ratio from 4:1 to 6:1
I will have less speed, but from my tests I think it is still enough.
@@Jorgefer88 I am building a motor (with little knowledge)
how to calculate windings, gauge and voltage for 500RPM (and max torque)
I would suggest you to use metal or alloy casings for the actuators in order to deal with the problem of overheating. And for the rest great progress..... Good job.......
Thank you so much!
Yes, I'm precisely working on an update to make the core of the actuator aluminum, but I've never worked with CNC and I still don't know how it can turn out.
@@Jorgefer88
I wonder if it would be possible to simply electroplate your plastic version to help with the heat?
Currently, I have connected an unitree 4-leg robot for remote control. I hope to connect your robot.
Good
I was waiting for this video! Thank you! Do you have any ideas to make it less springy when walking?
Thanks you so much! You could adjust the PIDs parameters so that it was a little more rigid when walking, but I'm still trying things to make the walk better.
Wait what is the control interface youre using for pid and control tuning?
The graphical interface is specifically designed by me too. This is made with QT
Awesome as always!! since all 4legged robot dogs that are currently in the market also looks like jor-dog, can you create a tail for him that wags on command or based on certain movement? :DD
You could put a tail that reacts with movement, it's a good idea!
At the moment I am focusing on it working and walking correctly for long periods.
Nice! What motors and drivers for the joints?
Both motors and drivers are designed by me. You can see them in a previous video posted
How can we make a robot dog like in the video by ourselves
It is quite a time job. The important thing is to be able to make a robotic actuator that works correctly.