SpotMicroAI - SpotMini-Clone with Simulation-Environment and RL

Let's Make Robots Robots
28

I really like the Jetson Nano. But to be fair i’ve not tested a Pi4, yet.
Benchmarks reagrding TensorFlow look quite promising:

I think a big advantage of the Jetson could be the Nvidia’s ISAAC SDK. I installed it today and will now dive into it.

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29

Thanks for your input, I may still pick up one of the NVidia boards just because to see what I can do with it… besides collect dust! lol

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30

A tutorial would be great! I’m pretty new to this still so any help goes a long ways.

31

Most of the information is available here:

https://github.com/FlorianWilk/SpotMicroAI/?utm_source=rb-community&utm_medium=forum&utm_campaign=spotmicroai-spotmini-clone-with-simulation-environment-and-rl

32

The robot looks really amazing! I look forward to seeing a video of the real robot’s first steps in the future :slight_smile:

33

Got most of the pieces printed and then realized that the horns that came with my servo are way too big. I 3d printed a few in the meantime on my sla printer, but it’s pretty brittle material. I’ll have to order some new horns. Any suggestions?

34

I had a similar problem. Had to cut every single horn a little with a side cutter, but the difference was just minimal so it was doable.
My other suggestion would be: we could try to create new STL-Files fitting your servo-horns. Do you have a blueprint/dimensions of these horns?

35

Yeah, I was looking at modifying and re-printing. Do you know if step files or other non-stl files are available? I don’t immediately see them on KDY’s thingiverse page.

36

II think there are no non-STL Files available. At least i couldn’t find them. That’s why i recreated some Parts with FreeCAD. We could try recreating the other parts, too.

37

Yeah, I’ve been slowly hammering away at that. I’ll post it up on thingiverse and send you a pull request on github sometime over the next few days.

38

Okay, I’ve posted some step files here. Everything was redesigned in fusion 360 so I should be able to export to other filetypes if needed. All the parts are virtually identical to the original except the midArm Cover, that needs a bit of tweaking.

Parts still remaining:

  1. Inner Shoulder
  2. Computer Plate
  3. Top Cover
  4. Cutouts for bottom cover
  5. Side walls for body
  6. Front Cover
  7. Back Cover

Link: https://www.thingiverse.com/thing:3761340

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39

This is great! We could even try different types of servos when you finished modelling the parts. I tried to model a leg in FreeCAD, but i think Fusion360 is a better choice for modelling such kinds of parts.

40

Yeah, I think servos are going to be an issue. I haven’t finished yet but suspect that the MGR996Rs are going to be a tad small. I was going to try overvolting them to see if I could get them to output a bit more.

Any ideas for other lines that are reasonably priced?

I keep thinking that brushless servos should be a thing, but I only see them in super heavy duty applications and are super expensive.

Edit:
I suppose these would work (https://hobbyking.com/en_us/full-size-high-voltage-servo-hs-tg-ultra-high-torque.html). It just bothers me to spend $50/motor as x12 that works out to $600, significantly more than the rest of the parts combined. I think the price point to get traction in the community would be about $200-$250.

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41

Ok, I think this may be the winner on the price:performance ratio : https://hobbyking.com/en_us/turnigytm-mg959-v2-alloy-dg-mg-servo-30kg-0-15sec-78g.html

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42

oh nice, they have the same dimensions as the MG996R, right?
You could buy only 3 of them to have a test-leg and “somehow measure” max-forces.
This way we could compare different Servos without burning all our money :slight_smile:

43

Not a bad idea. :slight_smile:

I’ve been watching this channel as he does quite a few servo reviews for HV servos: https://www.youtube.com/channel/UCuHg2ZgWg1W87NV734kAQIw.

Apparently this is the strongest motor he’s tested: https://www.youtube.com/watch?v=pfMJ09PLQNE

The other option would be to use 6 ODrives…:woozy_face:

44

can you please tell me dimension of the robot or send me cad drawings .thanks my email is [email protected]

45

Hey @SwapnilAntala,
you can find a Blender-File in the Repo https://github.com/FlorianWilk/SpotMicroAI
Hope this helps

46

Have you linked Pybullet with Gym for RL? I want a quadruped robot for a project I’m working on, but I need it to be autonomous - at least object avoidance, navigation, get through rough terrain, and some other stuff.

47

NicRusso has already implemented a first RL-Solution for SpotMicro/Rex https://github.com/nicrusso7/rex-gym.

already very impressive imho