WAVEGO, 12-DOF Bionic Dog-Like Robot, Open Source

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New product v11 mars 2022WAVEGO, 12-DOF Bionic Dog-Like Robot, Open Source For ESP32 And PI4B, Facial Recognition, Color Tracking, Motion DetectionHIGH-DOF BION

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New product v11 mars 2022

WAVEGO, 12-DOF Bionic Dog-Like Robot, Open Source For ESP32 And PI4B, Facial Recognition, Color Tracking, Motion Detection

HIGH-DOF BIONIC QUADRUPED ROBOT

Powered by ESP32 sub controller & Raspberry Pi 4B host controller

 

The WAVEGO is a high-DOF bionic dog-like robot which features 2.3kg.cm large torque servos, reliable structure, and flexible motion, incorporating devices like front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as sub controller for connecting rod inverse solving and gait generation, sharing calculating task for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.

Product Features

  • Overall 12-DOF, multi connecting rods leg design, increasing the servo effective torque
  • A real time operating system is used as sub controller for connecting rod inverse solving and gait generation, sharing calculating task for the host controller and improving the gait solving efficiency
  • Ultra compact structure design, allows using on the table, aluminum alloy + nylon structure materials, ensuring strength while keeping it light weight
  • Additional Raspberry Pi can beattached as the host controller to enable OpenCV high-level functions, demo codes including facial recognition, motion detection, color tracking, and more. Reserved extension interface for secondary development, along with user manual and secondary development documents.

Selection Guide

 WAVEGO BASICWAVEGO EXWAVEGO PI4 KIT
Basic pack
Extension pack 
PI4B-4GB add-on  

Raspberry Pi 4 Controller

More Powerful Processor, Richer Multi-Media Capability, Faster Networking

High-DOF, More Flexible Motion

Overall 12-DOF, Multi Connecting Rods Leg Design + Inverse Kinematics Algorithm,
Significantly Increasing The Servo Effective Torque

Ultra Compact Structure Design

5052 Aluminum Alloy And PA12 Nylon Structure Materials, 40 Sets Of Bearing Joint All Over The Body,
Rugged And Reliable Structure, Ensuring Strength While Keeping It Light Weight

Self-Balancing Posture

Embedded High Precision 9-Axes Motion Tracker ICM20948
Accommodating To Different Terrains, Keeping The Camera Stable By Self-Balancing

5MP 160° Wide Angle Camera*

Allows Using OpenCV-Based Functions Like Facial Recognition, Color Tracking, Motion Detection, And More

facial recognition

 

color tracking

* the 5MP camera is only included in WAVEGO EX and PI4 KIT.

Remote Control Via Web

Auto-Generated WiFi Hotspot On Startup, Needs No Compiling Environment Configuration,
Allows Connecting To And Login The Control Page Via Smartphone Or PC Browser, Without Installing App

Developing High-Level Functions

An Raspberry Pi Can Be Attached As Host Controller To Communicate With The Sub Controller Via UART,
The ESP32 Sub Controller Will Share Lots Of Calculating Task Like Connecting Rod Inverse Solving And Gait Generation, Retaining More Raspberry Pi Performance For Developing High-Level Functions

Highly Integrated Base Board

 

Introduction

 

Dimensions

Specifications

OTHERS
PROCESSOR AND MEMORY
VISUAL FUNCTION
SERVO INFO
MOTION PERFORMANCE
OPERATING SYSTEM
GENERAL
Product nameWAVEGO high-DOF bionic quadruped robot
Stand uplength 218mm, width 116mm, height 152mm
Lie downlength 228mm, width 116mm, height 127mm
Overall weightBASIC: 465g (with batteries)
EX / PI4 KIT: 554g (with batteries)
DOF12 overall, 3 per single leg
Demo codeFreeRTOS + Raspberry Pi OS
Available gaitshake hands | stand up | crouch slowly | diagonal gait | jump | self-balancing
Motion extensionProviding motion programming example, including flexible Bezier curve speed motion function
Max loadBASIC: 300g
EX / PI4 KIT: 200g
Dimensions23.2 x12.1 x25.25 mm
Weight13.0 ± 1g
Operating voltage6V
Idle speed0.1sec/60° (100RPM)
Stalling torque2.3kg.cm (31.99oz.in)
Rated load0.7kg.cm
Rated current350mA
Control methodPulse width modification
Control system typeDigital comparator
FreeRTOS demoweb-based real time video streaming
Raspberry Pi OS demoreal time video streaming | facial recognition | color tracking | moving object detection
Note: all the demo codes are open sourced, the Raspberry Pi OS demo is based on open source projects flask-streaming and OpenCV
ESP32 sub controllerProcessor: Xtensa LX6 dual-core processor @240MHz
SRAM: 520KB+8MB
Flash: 448KB+4MB
WiFi standard802.11b/g/n
Bluetooth standardBluetooth 4.2, including traditional Bluetooth (BR/EDR) and Bluetooth low energy (BLE)
External port2*5P multi-function extension port (host controller communication, power supply selection, assembly mode selection, etc.)
DC battery charger jack
Type-C (download, UART communication, peripheral expansion)
Power supplyBattery type: 18650 Li-ion batteries (NOT included)
Supply voltage: 7-8.4V
Recharge voltage: 8.4V
Protection: over charge/discharge protection, over current protection, short circuit protection, reverse proof, equalizing charge, stable and safe operating
Output voltage: provides 5V output for other host controller


WIKI: WAVEGO

Shipping list

WAVEGO EX

  1. WAVEGO body case x1
  2. WAVEGO basic parts x1
  3. Raspberry Pi extension holder x1
  4. 5MP wide angle camera x1
  5. Cooling fan x1
  6. Semi-transparent acrylic panel x1
  7. Double-sided sticker x1
  8. Micro thrust bearing x14
  9. Micro ball flange bearing x30
  10. WAVEGO base board x1
  11. 2MP camera x1
  12. 2.4G antenna x1
  13. 0.91inch OLED display x1
  14. Plus screwdriver x1
  15. Cross wrench sleeve x1
  16. 4PIN PH2.0 cable x1
  17. IPEX 1 to SMA cable (~17cm) x1
  18. Jumper wire (~20cm) x4
  19. USB cable (~1m) x1
  20. Servo pack x1
  21. OPTIONS 8.4V 2A battery charger x1
  22. Screws and standoffs x1