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openDog V3 #3 (Patreon)

Published:
2021-12-06 09:16:23
Imported:
2026-06
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Content

Here's next week's video, early for Patrons. This one goes out next Tuesday 14th.

I'm pretty happy with the current status of the project, there's quite a bit more experimentation and development to do as detailed in the video, and it feels a lot more solid than V2.

All the CAD and code so far is also now published, although I highly recommend not jumping in at the deep end: https://github.com/XRobots/openDogV3

Files

Previews only

openDog V3 #3 - PREVIEW VERSION

It's time for an update on openDog V3 - my latest robot dog project. It's walking pretty well now I've sorted out Inverse Kinematics and Interpolation, but we still don't have any dynamics which will come up later. My 3D printed Cycloidal Drives have held out fairly well so far, so this seems like it was a good approach. CAD and Code: https://github.com/XRobots/openDogV3 You can support me on Patreon or buy my Merchandise: *************************** Patreon: https://www.patreon.com/xrobots Merchandise: https://teespring.com/stores/james-bruton *************************** Affiliate links - I will get some money of you use them to sign up or buy something: *************************** Matterhackers 3D printing supplies: http://www.matterhackers.com?aff=7500 Music for your YouTube videos: http://share.epidemicsound.com/xrobots *************************** Other socials: *************************** Instagram: https://www.instagram.com/xrobotsuk Facebook: https://www.facebook.com/xrobotsuk/ Twitter: https://twitter.com/xrobotsuk *************************** CAD and Code for my projects: https://github.com/XRobots Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon. HARDWARE/SOFTWARE Below you can also find a lot of the typical tools, equipment and supplies used in my projects: Filament from: https://www.3dfuel.com/ Lulzbot 3D Printers: http://bit.ly/2Sj6nil Bearings from: https://simplybearings.co.uk/ Lincoln Electric Welder: https://bit.ly/2Rqhqos CNC Router: https://bit.ly/2QdsNjt Ryobi Tools: http://bit.ly/2RhArcD Axminster Micro Lathe: http://bit.ly/2Sj6eeN 3D Printer Filament: http://bit.ly/2PdcdUu Soldering Iron: http://bit.ly/2DrNWDR Vectric CNC Software: http://bit.ly/2zxpZqv Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: https://www.facebook.com/groups/287089964833488/ XROBOTS Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it. XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.

Comments

Anonymous

I downloaded main on 12-02, will that have the latest?

XRobots
>>73191252

Yes I only added the steel bars for the drives to the BOM since then, and the CAD for the jig to cut them.

TV_Walkman

Love the new remote! Though the lack of connectors wounds me. Any plans to add texture to the feet ? You could do stippling or maybe even something really interesting like gecko tape texture, if you've seen applied science's vid on it. I'm sure you've sunk enough time into what you've got, though.

Anonymous

Amazing work as always! I'd love to see a demonstration on the dogs max speed and jumping height.

XRobots
>>73209625

It's pretty grippy for now, but we'll see what happens if I have to change the lower legs for longer ones.

XRobots
>>73209726

Haven't tried jumping yet, I'd like to make it pronk under control though

Anonymous
>>73209726

Just learned a new vocab word "Pronk". Thanks! Yes that is what I was imagining. It would be fascinating to see.

XRobots
>>73209726

It would probably do it now with dead reckoning since I got rid of the bounce, but after multiple hops in quick succession I suspect it would lose it.

Anonymous

Thanks so much for working so hard this project is awesome!

Anonymous

Motors are discontinued at Hobby King and over a month delivery from AliExpress 😢

XRobots
>>73214816

Yes I used the Eaglepower 8308 90KV motors from Aiexpress, but it took a few weeks for them to arrive.

Anonymous

Another question 😁 what's the best way to cut the carbon fiber tube? I've never cut carbon fiber before and don't want to make a mess of it. Thanks

Ken

Would you consider including links to the items you purchased. It would be really helpful.

XRobots
>>73933069

I guess I could, although most of them are either UK sellers which isn't good for everyone, or China sellers on Aliexpress where there are multiple sellers and stock comes and goes.

Ken

Even if the seller isn’t a good fit, I think having the links may help ensure people buy the right correct parts. What is the total BOM cost?

XRobots
>>73952764

I've added links to the BOM for most of the major items. It's probably about $2000 in total, depending on where you but the items - like the bearings are a major part of the cost if you don't get them from China.

Anonymous

Sorry, had to redo Patreon due to card fraud. So how long do I cut the 4mm round stock for the bearings? Like the jig you 3D printed. Got the stl file? 😁 I get 32mm long?

Ken

Are there plans for the work for a scaled down version of Open dog 3?

XRobots
>>74658470

I thought I replied to this already - yep I uploaded the jig to the Github.

Anonymous
>>74658470

Hi James, I am wondering if you consider OpenDog finished or will you be working on software updates such as better running and such? Will we see more OpenDog videos? I have well over 50% printed and am ordering the ODrives this week. I hope to have one leg working in a week or two depending on how long it takes the ODrives to arrive. Do you have programming for one leg to try, or will I just load the whole program and start like that? TIA!

XRobots
>>74658470

I'm intending for there to be more videos so I can work on more dynamic stability etc - some of the stuff I mentioned in the last video. You can run the whole code against one leg - just comment out the serial writes for the ODrives you aren't using

Anonymous
>>74658470

This Dog is going to be very heavy, and big! Where the heck did you find M4 Hex Heads by 80mm? Can't find them anywhere, not even online. Ordered threaded rod 👀

Anonymous
>>74658470

Hi James, I don't see bearings or shafts for the belt tensioners. Have I missed something?

XRobots
>>74658470

I added the bearings to the BOM a couple of days ago. The shafts are just M6 bolts.

Anonymous

Do you have a step file for the encoder mount? Didn't find it in existing OpenDogV3.stp file somehow.

XRobots
>>77217751

I've just downloaded it from Github and imported it back into Fusion360 and it looks complete - there should be one part on the back of each motor with a block and four holes to mount the encoder. Is that the part, and how are you viewing the file?

Anonymous
>>74658470

You have listed 8 required, 2 per leg. It looks like 16 are required, 4 per leg. I have everything printed now, waiting on some electronics 😃

Anonymous
>>77217751

Thanks. Yeah, I was looking at Fusion 360. Found it now. It is marked as AMS v1, not within Drive body.

Anonymous
>>74658470

Where can I find info on the remote? I have the case printed but haven't fount any BOM or wiring diagram. tia

XRobots
>>74658470

I've just updated the BOM on Github to add the remote joysticks and switches. The Micro was already on there - the Teensy LC that says 'for remote', and the radio chips are the NRF24L01s - where it says 'one for dog and one for remote'. Switches and Joysticks are wired to the pins specified in the code and the NRF is wired to the SPI pins as per https://howtomechatronics.com/tutorials/arduino/arduino-wireless-communication-nrf24l01-tutorial/ - but obviously you need to wire to the correct SPI pins for a Teensy. CE and CSN go to the pins in the code for the dog and remote.

Anonymous
>>74658470

Thanks much, getting close to teaching this new dog old tricks 😁

Ronzelver

Hi James, I've started the journey to build this Opendog v3. I'm planning to upgrade the controls based on an ESP32 for both the dog and the remote as I already have experience with these controllers. I'm also planning to connect the ODrives through CAN bus (ESP32 has native CAN bus support). One question, what is the main advantage of placing the legs mirrored? I assume I can place them pointing in the same direction?!

XRobots
>>99601595

I did place the legs facing the same way to start with on openDogV2, but it put much more strain on the all the joints in one direction. Mirroring them makes them better balanced without sucking up lots of power.