DESCRIÇÃO EM PORTUGUÊS BREVEMENTE DISPONÍVEL
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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
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Overall 12-DOF, multi connecting rods leg design, increasing the servo effective torque
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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
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Ultra compact structure design, allows using on the table, aluminum alloy + nylon structure materials, ensuring strength while keeping it light weight
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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.
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
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
SAFETY CAUTIONS
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Li-ion and Li-po batteries are quite unstable. They may cause fire, personal injury, or property damage, if they're not properly recharged or used.
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Do not reversely connect the polarities when recharging or discharging the battery. Do not use inferior charger/charging panel to recharge the battery.
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Do not mix use old batteries with new ones, avoid using batteries of different brands.
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When buying Lithium battery, should always make sure the battery specification is compatible with the expansion board. Choose batteries from formal manufacturer, and ensure the batteries will work stably and safely by aging test.
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Lithium batteries have limited cycle life, they will also deteriorate as time goes by. Should be replaced with new ones when the batteries reaching their max cycle life, or working over two years, whichever comes first.
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Should be placed carefully and properly, keep it away from inflammables and explosives articles, away from children, avoid any safety accident caused by careless storage.
Introduction
Specifications
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Product name
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WAVEGO high-DOF bionic quadruped robot
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Stand up
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length 218mm, width 116mm, height 152mm
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Lie down
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length 228mm, width 116mm, height 127mm
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Overall weight
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BASIC: 465g (with batteries)
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EX / PI4 KIT: 554g (with batteries)
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DOF
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12 overall, 3 per single leg
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Operating system |
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Demo code
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FreeRTOS + Raspberry Pi OS
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Motion performance |
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Available gait
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shake hands | stand up | crouch slowly | diagonal gait | jump | self-balancing
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Motion extension
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Providing motion programming example, including flexible Bezier curve speed motion function
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Max load
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BASIC: 300g
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EX / PI4 KIT: 200g
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Servo info |
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Dimensions
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23.2 x12.1 x25.25 mm
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Weight
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13.0 ± 1g
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Operating voltage
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6V
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Idle speed
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0.1sec/60° (100RPM)
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Stalling torque
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2.3kg.cm (31.99oz.in)
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Rated load
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0.7kg.cm
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Rated current
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350mA
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Control method
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Pulse width modification
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Control system type
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Digital comparator
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Visual function |
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FreeRTOS demo
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web-based real time video streaming
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Raspberry Pi OS demo
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real time video streaming | facial recognition | color tracking | moving object detection
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Note: all the demo codes are open sourced, the Raspberry Pi OS demo is based on open source projects flask-streaming and OpenCV
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Processor and memory |
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ESP32 sub controller
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Processor: Xtensa LX6 dual-core processor @240MHz
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SRAM: 520KB+8MB
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Flash: 448KB+4MB
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Others |
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WiFi standard
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802.11b/g/n
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Bluetooth standard
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Bluetooth 4.2, including traditional Bluetooth (BR/EDR) and Bluetooth low energy (BLE)
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External port
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2*5P multi-function extension port (host controller communication, power supply selection, assembly mode selection, etc.)
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DC battery charger jack
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Type-C (download, UART communication, peripheral expansion)
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Power supply
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Battery type: 18650 Li-ion batteries (NOT included)
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Supply voltage: 7-8.4V
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Recharge voltage: 8.4V
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Protection: over charge/discharge protection, over current protection, short circuit protection, reverse proof, equalizing charge, stable and safe operating
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Output voltage: provides 5V output for other host controller
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Resources & Services
* Resources for different product may vary, please check the wiki page to confirm the actually provided resources.
Package Content
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WAVEGO body case x1
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WAVEGO basic parts x1
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Raspberry Pi extension holder x1
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5MP wide angle camera x1
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Cooling fan x1
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Semi-transparent acrylic panel x1
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Double-sided sticker x1
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Micro thrust bearing x14
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Micro ball flange bearing x30
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WAVEGO base board x1
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2MP camera x1
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2.4G antenna x1
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0.91inch OLED display x1
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Plus screwdriver x1
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Cross wrench sleeve x1
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4PIN PH2.0 cable x1
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IPEX 1 to SMA cable (~17cm) x1
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Jumper wire (~20cm) x4
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USB cable (~1m) x1
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Servo pack x1
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8.4V 2A battery charger x1
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Screws and standoffs x1
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Portable bag x1
