K3lso Quadruped (Build thread)

raess · March 25, 2021, 12:58pm

Getting somewhere on the loop frequency! We Started of at around 650hz. This is 1 motor over 1/4 of the channels!

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Futher more I got a bit crazy and ordered two additional 4-Channels FD baords. So I can run each motor on a individual channel. So in total the robot will have 12-Channel CAN-PCI(FD) . Which would increase the individual frequency for each motor to around numbers of the picture above. Of course this needed to be tested

I also just made all the last chains. Full assembly is in progress! (Not covers)

raess · March 25, 2021, 1:13pm

Forgot to add this:
Uploaded instructions on how to get started with #PEAK #PCAN over #linux and how to optimize it for more performance! Using the #UPXtreme from @UPbridge_gap

Now I’m waiting for two more PCAN-miniPCIe FD

#robotics #ros #ubuntu #quad #quadruped

raess · March 25, 2021, 10:35pm

Battery assembly test. Happy with the results. Everything fitted as planned!

raess · April 1, 2021, 11:26am

First stand! Power consumption 1A @36v

raess · April 9, 2021, 11:20am

Thanks
@NVIDIAEmbedded
for the #swag pack!

Let’s invent the future together at Nvidia GTC #Nvidia #GTC21 #GTC #NVIDIAGTC #GTCWithME #k3lso #quadruped #robotics #bldc #quad #mjbots #realsense

raess · April 17, 2021, 9:50pm

Twelve CAN FD channels on a UP Xtreme i7C1-8565U

igor_X · April 18, 2021, 11:18am

Long time no see

raess · April 19, 2021, 9:19pm

Re-doing cabling for 12-channel CAN. Using Braided Green NOMENX® (Meta-Aramid) sleeving. This will suffice for first testing!

#k3lso #quadruped #quad #robotics #ros #ros2 #UPXtreme #MIT #cheetah #hackaday #bostondynamics https://t.co/ppKIz6rHaf

cbenson · April 20, 2021, 11:10am

Perhaps I missed it, but what connectors are you using for CAN? Keep those updates coming!

raess · April 20, 2021, 12:23pm

For the CAN its JST PH3 2.5mm.
Another update is that the Top/Bottom Cover is sent off for manufacturing in Carbon Fiber

raess · April 20, 2021, 8:38pm

Will try to update here more @cbenson. But everything is taking a bit of “time”

Just tried out the black rubber motor protection. I like it more then the cool grey 10C, looks sleeker
also printed a temporary adapter plate for the new #mjbots power dist r4.3b

Also wating for a few CNC milled parts and a few molded parts
Which includes

The “camera holder”, Which will be used for holding the d435 on each side, the Vectornav vn-100, SSD slot, simpleRTK2B and a small inlet fan.

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The top/bottom cover mount (marked in red)

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Rubber cushions for resting position (marked in red)

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4.A few more feets with a bit less Shore A hardness. First batch was 60C. which feels a bit to stiff. trying out 35C and 40C

A custom inline chain tensioner. Also custom machined dowel pins since I couldn’t find them anywhere.

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Impact bars for front/back (marked in red) (the front back/cover is only a work in progress in the picture)

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