If youre having trouble SSH-ing into the Pi, please check the instructions for setting the Pis ethernet settings linked in the previous step. Use Git or checkout with SVN using the web URL. robot enthusiasts in K-12 and beyond to get their hands on fun, dynamic robots. Then restart the pi. A tag already exists with the provided branch name. Mini Pupper has been launched on the Stanford Pupper website, endorsed and highlighted by ROS foundation, and is one of the finalist on Hackaday's 2021 Price . Revision 9c556d02. high level behaviors like playing fetch or following you around. The robot is designed to be "hacked" - we want you to be able to adjust and expand the robot's behaviors to your heart's content. The third component of the code, the hardware interface, converts the position targets from the controller into PWM duty cycles, which it then passes to a Python binding to pigpiod, which then generates PWM signals in software and sends these signals to the motors attached to the Raspberry Pi. Download the latest release of the RPI-Setup repository. The two vendors sell Try removing the SD card and putting it back in, if the problem persists. Then open the sd card folder and go to the folder: boot/appliance/etc/network/. To get started, check out the pages linked below on part sourcing and assembly. The output varies depending on the order of you running various programs, but just check that it doesnt have any red text saying that it failed. Move all the files in the downloaded repository into the SD card. For more information, please refer to GitHub Repository MiniPupper. Puffer does not work on iPhones or iPads or in the Safari browser. As shown in the diagram, the gait scheduler can be thought of as a conductor for each leg, switching it between stance and swing as time progresses. NBC, CBS, ABC, PBS, Fox, and CW networks. If the hostname is still raspberry you will be prompted to change it. This diagram shows a breakdown of the robot controller. For example, if in stance phase the feet move backwards at -0.4m/s (to achieve a body velocity of +0.4m/s) and the stance phase is 0.5 seconds long, then we know the feet will have moved backwards -0.20m. To put it into pairing mode, hold the share button and circular Playstation button at the same time until it starts making quick double flashes. Pupper can be built from the ground up in under 8 hours . The joystick interface is responsible for reading joystick inputs from a UDP socket and converting them into a generic robot command type. Contributors. Main documentation: https://pupper.readthedocs.io/en/latest/. sign in The touchdown locations are selected so that the foot moves the same distance forward in swing as it does backwards in stance. (Community Award winner at USENIX NSDI 2020) for more information. If it starts making slow single flashes, hold the Playstation button down until it stops blinking and try again. Done! A separate program, joystick.py, publishes these UDP messages, and is responsible for reading inputs from the PS4 controller over bluetooth. Are you sure you want to create this branch? Connect the PS4 controller to the Pi by putting it pairing mode. Stanford Quadruped Overview This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump. Go to Network Options, then Wi-Fi and enter your SSID (Wi-Fi name, eg. You will be asked to enter the current time and date. Stanford Quadruped Overview This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump. stanfordroboticsclub / Pupper Public Notifications Fork 27 Star 44 Code Issues Pull requests Actions Projects Security Insights master 1 branch 0 tags Code 39 commits Failed to load latest commit information. Video of pupper in action: https://youtu.be/NIjodHA78UE Project page: https://stanfordstudentrobotics.org/pupper Documentation & build guide: https://pupper.readthedocs.io/en/latest/ Build instructions, bill of materials, CAD, etc, Code repository: https://github.com/stanfordroboticsclub/StanfordQuadruped, Build time: ~ 8 hours depending on expertise. Stanford Pupper 57,600 views Mar 2, 2020 477 Dislike Share Save Nathan 615 subscribers Pupper is an open-source quadruped robot that costs about $800 to build in total. Thanks to pi-init2 magic that file can be edited before the pi is ever turned on from /boot/appliance/etc/wpa_supplicant/wpa_supplicant.conf. It also incorporates turning, in which case it rotates the feet relative to the body in the opposite direction as the desired body rotation. on a computer or an Android phone or tablet. research paper changing the wpa_supplicant file on the SD card before inserting it into the Pi. Cypress Software for cheaper than what it would cost you to get the parts yourself. Puffer works well in the Chrome, Firefox, Edge, and Opera browsers, Stanford Pupper Watch on The robot's brain is a Raspberry Pi 4 computer, which receives commands from a wireless PS4 controller and controls the servo motors, three per leg, to move the feet and body to the right places. Use this version so everyone is using the same version. The robot features torque-controllable brushless motors with high specific power that enable testing of impedance and torque-based machine learning and optimization control approaches. to use Codespaces. docs 5. There was a problem preparing your codespace, please try again. The swing controller picks up the feet that just finished their stance phase, and brings them to their next touchdown location. Mini Pupper supports not only Melodic but also Noetic. Please see the FAQ and our We present Stanford Pupper, an easily-replicated open source quadruped robot designed specifically as a benchmark platform for legged robotics research. Last updated December 6, 2022 has the benefit that you can set the proper internet settings without SSHing into the Pi. We hope that K-12 and. Connect to the Pi over SSH 2. Go to your network settings for the interface you wish to use (ethernet/wifi), Change your IP Address to something in range 10.0.0.X (If you are a part of Stanford Student Robotics pick something that doesnt colide with other systems from this, After disconnecting from the robot network remember to return those settings to what they orignially were, otherwise your internet on that interface wont work. Enables ssh. Use another computer to navigate to iprequest.stanford.edu. While were not affiliated with either company, weve verified both of their kits. However, modifying the wpa_supplicant file Para obtener informacin detallada, visite nuestro sitio web oficial. Ver Este Plugin If your Pi does not boot, please try going back to step 3 Use etcher to flash the card and use this version of Rasbian instead: https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip, Run ssh pi@10.0.0.10 (The default password is raspberry). If nothing happens, download Xcode and try again. Run sudo hciconfig hci0 up to turn the radio on. Stanford Pupper is an quadruped robot designed to help K-12 and undergraduate students get involved in exciting robotics research. Mini Pupper is a dog-shaped robot that is aimed at stimulating and empowering your creativity. In June 2021 MangDang released Mini Pupper, a commercial educational quadruped robot inspired by Stanford Pupper and in light collaboration with Nathan Kau, the original creator of Stanford Pupper. Install requirements (on the Pi) 5. Tech Specs: This project is licensed under the MIT License. Stanford Pupper A four-legged robot for research and education Overview. If you purchase the parts yourself, itll run you You can also see this link. The swing controller will then move the feet forwards 0.20m to put the foot back in its starting place. Please check out both vendors to see what fits your needs best. This is done by using an inverse kinematics model, which maps between cartesian body coordinates and motor angles. Verify everything is working 7. If you forgot what the Pis IP address is, turn off the Pi, take out the SD card and put it in your computer. Weve personally verified the quality of both vendors. different options so check both of them out to see what works for you. Puffer works well in the Chrome, Firefox, Edge, and Opera browsers, on a computer or an Android phone or tablet. You can imagine that if the swing controller only put the leg forward 0.15m, then every step the foot would lag more and more behind the body by -0.05m. Enter the URL to this GitHub repository, then select the TemplatePackage package to install. The robot is designed to be "hacked" - we want you to be able to adjust and expand the robot's behaviors to your heart's content. Clone this repo (on the Pi) 4. Published: September 11, 2022. . Learn more. That's why we are not presenting it as a closed project that can't evolve from here. For more. In 2020, at the start of the pandemic, as an act of community service over 900 teachers from around the world came together to offer a first-of-its-kind volunteer-led course called Code in Place, hosted by Stanford University. If the IP is still 10.0.0.10 you will be prompted to change it. Code in Place was a great, uplifting, learning experience and over 10,000 students learned how to code in python. Pupper is a 2kg open source robot designed for both research and education. Power-cycle the robot 6. Work fast with our official CLI. 1. Stanford Pupper Watch on The robot's brain is a Raspberry Pi 4 computer, which receives commands from a wireless PS4 controller and controls the servo motors, three per leg, to move the feet and body to the right places. Documentation: https://pupper.readthedocs.io/en/latest/. Stanford Pupper is a small quadruped robot that can hop, trot, and Project Goals We initally set out to create a robot that could freely move around an enviroment autonomously and seek out visual targets without colliding with any . Replace any files that conflict so the repositorys version overwrites the original version. Edit /etc/wpa_supplicant/wpa_supplicant.conf as documented in this link , see Adding the network details to the Raspberry Pi. Pupper Stanford Student Robotics Cost: $600-$1000 if you source the parts yourself, otherwise cheaper if you purchase a parts kit. On line 19 it should show the IP address as address 10.0.0.x. https://stanfordstudentrobotics.org/pupper, https://github.com/stanfordroboticsclub/StanfordQuadruped/issues/new/choose, https://groups.google.com/forum/#!forum/stanford-quadrupeds. If you are using the recommended etcher, this is the start-up menu. to move the feet and body to the right places. Configure your computer to SSH into the robot, 4. Connect power to the Pi as well. Contiene soporte para ejecutar varias herramientas precisas de procesamiento de lenguaje natural en ms de 60 idiomas y para acceder al software Java Stanford CoreNLP desde Python. The controller does the bulk of the work, switching between states (trot, walk, rest, etc) and generating servo position targets. run around. Once the controller is connected, check the status again. You can now delete the zip file and the now empty folder. Inside, you can see four primary components: a gait scheduler (also called gait controller), a stance controller, a swing controller, and an inverse kinematics model. You can watch U.S. TV stations affiliated with the NBC, CBS, ABC, PBS, Fox, and CW networks. If the pi cant find the joystick after a minute or two, its possible that the pis bluetooth controller was never turned on. Part Sourcing Stanford Pupper 2020 documentation Part Sourcing Pre-Made Kits Two small businesses are now selling Pupper kits. simpler and recommended for beginners. Plug your Pi in to power (over the onboard micro USB port). https://github.com/stanfordroboticsclub/StanfordQuadruped. It uses high power, torque-controllable actuators which makes it perfect for testing novel control approaches, but at the same time, it's small, easy to build, and inexpensive. No description, website, or topics provided. The raspberry Pi IP should not be the same as your computers IP, 10.0.0.Y. Select 2019-09-26-raspbian-buster-lite.img (file inside zip )and the SD card. This is reflected by the increase in universities with quadruped as well as more DIY quadrupeds being created by the general population . Stanford Pupper (with low cost) 1,879 views May 23, 2020 35 Dislike Share Save MangDang 1.07K subscribers Pupper is an amazing quadruped robot. The main program is run_robot.py which is located in this directory. Our target is NOT the cheapest robot dog, but the BEST robot dog for education at an acceptable price. Introduction. Here, Y is the IP address you chose for the Pi when running the install_packages.sh script. Confirm that the terminal prompt ends with (rw) instead of (ro). Stream live TV in your browser. 3. It looks at the desired robot velocity, and then generates a body-relative target velocity for these stance feet that is in the opposite direction as the desired velocity. While the robot can walk out-of-the-box, some of the features you could add include different gaits (bounding, galloping, etc), or MangDang Created by MangDang 915 backers pledged HK$ 3,904,382 to help bring this project to life. Buying a kit instead of purchasing the parts yourself will most likely save you money. The gait scheduler is responsible for planning which feet should be on the ground (stance) and which should be moving forward to the next step (swing) at any given time. GitHub - stanfordroboticsclub/Pupper: Build instructions and code documentation for the Stanford Pupper project. Run rw in the robot shell. However, you can purchase a kit to build the robot from either MangDang or This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. Pupper can be built from the ground up in under 8 hours . Netgear, Linksys) and password. Copyright 2020, Nathan Kau, Abi Lopez MangDang 1 Campaign | Kowloon, Hong Kong $578,911 USD by 1,033 backers $499,616 USD by 915 backers on Oct 29, 2021 with another platform See Options Follow Story FAQ Updates 15 Comments 42 Looking for more information? The robots brain is a Raspberry Pi 4 computer, which receives commands from a wireless PS4 controller and controls the servo motors, three per leg, See Licenses for more information. You can get one at a low price now. There are two methods for getting internet access: using the raspi-config tool on the Pi or We present Stanford Pupper, an easily-replicated open source quadruped robot designed specifically as a benchmark platform for legged robotics research. Puffer does not work on iPhones or iPads or in the Safari browser. Open the file called interfaces in a text editor. If you just powered on the Pi, wait about 30 seconds until the green light stops blinking. Check the status for the joystick service, If you havent yet connected the PS4 controller, it should say something like. We hope that its low cost and simple design will allow This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump. The stance controller controls the feet on the ground, and is actually quite simple. Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts, and beyond. Stanza: una biblioteca Python NLP para muchos lenguajes humanos La biblioteca oficial de Python NLP de Stanford NLP Group. The robot code is run as a loop, with a joystick interface, a controller, and a hardware interface orchestrating the behavior. The robot is designed to be hacked we want you to be able to adjust and expand the robots behaviors to your hearts content. License. It's convenient to work in cartesian coordinates for the stance and swing planning, but we now need to convert them to motor angles. Stanford Pupper Quadruped Open-Source Educational AI Robot (Complete Kit) Stanford Pupper is a small quadruped robot that can hop, trot, and run around. about $900-$1000. Both vendors sell a variety of types of kits, from partially complete to fully assembled. If nothing happens, download GitHub Desktop and try again. Video of pupper in action: https://youtu.be/NIjodHA78UE, Project page: https://stanfordstudentrobotics.org/pupper, Documentation & build guide: https://pupper.readthedocs.io/en/latest/. Because the password is kept unchanged (raspberry) ssh is only enabled on the ethernet interface. Mini Pupper: Open-Source,ROS Robot Dog Kit by MangDang Kickstarter Mini Pupper: Open-Source,ROS Robot Dog Kit Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts and beyond. Check the project FAQ In the welcome message that comes after the login line, look for the Pis MAC address, which will appear under the line that says wireless Hardware MAC address. This is the menu that will appear. If youre on Stanford campus, please follow Log in to the Pi over SSH. This project is developed as part of the Stanford Byers Center for Biodesign at Stanford University. Check that it has access to the internet. You can watch U.S. TV stations affiliated with the Remove SD card from computer and put it into your Raspberry Pi. You can find the bill of materials, pre-made kit purchasing options, assembly instructions, software installation, etc at this website. Video of pupper in action: https://youtu.be/NIjodHA78UE Project page: https://stanfordstudentrobotics.org/pupper Documentation & build guide: https://pupper.readthedocs.io/en/latest/ Build instructions, bill of materials, CAD, etc Code repository: https://github.com/stanfordroboticsclub/StanfordQuadruped Build time: ~ 8 hours depending on expertise Actuators: 12 x JX Servo CLS6336HV Puffer is a research project in the computer-science department at Stanford University. Cost: $600-$1000 if you source the parts yourself, otherwise cheaper if you purchase a parts kit. [For Stanford Student Students] Get internet access at Stanford, Installing the StanfordQuadruped software on the Raspberry Pi, https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip, Raspberry Pi 4 power supply (USB-C, 5V, >=3A). The robot features torque-controllable brushless motors with high specific power that enable testing of impedance and torque-based machine learning and optimization control approaches. Please These motor angles, also called joint angles, are then populated into the state variable and returned by the model. Setting up your Raspberry Pi Raspberry Pi 4 SD Card (32GB recommended) Installing the StanfordQuadruped software on the Raspberry Pi Steps 1. We hope its low cost and simple design will allow robot enthusiasts in K-12 and beyond to get their hands-on fun, dynamic robots. This is what the output should look like: and check the wlan0 portion to check if you have an IP address and other debugging info. before touching the real robot. You can also simulate the robots motion in PyBullet There's no charge. Kits: Both Cypress Software and MangDang sell part kits and pre-assembled robots. You signed in with another tab or window. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. You can skip to the next step if youd like to automatically set the time and date. In a trot for example, the diagonal pairs of legs move in sync and take turns between stance and swing. When prompted for the password, enter the default password raspberry or the one you set in the install_packages.sh script. Follow the on-screen instructions to add another device: Confirm that the Pi is connected to the network: Wait for an email (to your Stanford email) that the device has been accepted, After its done rebooting, type ping www.google.com and make sure you are receiving packets over the network. Test for the internet connection. You can also buy the parts yourself using the provided bill of materials. As a team we set out to build the Standford Pupper robot and see how far we could extend the software, hardware and overall functionality of the system over the course of a semester. Put the SD card into your desktop / laptop. 2. If youre not on Stanford campus, using the raspi-config tool is There's no charge. Comment out the ListenAddress lines from /boot/appliance/etc/ssh/sshd_config to enable it on all interfaces. Unplug the battery, wait about 30 seconds, and then plug it back in. Copyright 2020, Nathan Kau, Abi Lopez A detailed model of the controller is shown below. the instructions in the next section instead since there are special requirements. Quadrupeds have steadily become a more standard technology in robotic field. Sometimes it takes some time for your computer to read the SD card and show the boot folder. Note that address down. Both the stance and swing controllers generate target positions for the feet in cartesian coordinates relative the body center of mass. On the contrary, Mini Pupper leverages Ubuntu and ROS to operate its FSN (Full Self-Navigation) System. 6. To use ethernet for set up (recommended), connect the ethernet cable to your computer and the raspberry pi. Revision 9c556d02. Puffer Stream live TV in your browser. Github; Remodel of Stanford Pupper v2.0 and Integration of Baseline Controller. 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Get the parts yourself using the same version controller over bluetooth the diagonal pairs of move! Computer or an Android phone or tablet, this is done by using an inverse kinematics,... Out to see what works for you will then move the feet that just finished stance...