Robot Cat Quadraped (In Progress)

Robot cat started out as a sketch-up model to work out the dimensions and get a feel for how i could mount the servos together an soon turned into quite a complicated project its a work in progress an quite slow moving due to the quantity of custom parts.

i have included the model and pcb files in the attachment 'robot cat files 1.zip'

The Servo body is made from 25mm aluminum box section

it took about 3 hours to build the first one of these hip joints i cut 2 of each part so i can hopefully use them as a template

i will use a 6800mah lipo battery eventually as shown in the sketchup model but for now the nicad will do for testing mockup purposes

the body and hip servo joints coming together

i have included the eagle files for my 48 servo controller using an atmega 2560 microcontroler it is unfinished at the moment but if you want to have a look you will need the microbuilder & sparkfun component library's inluded in the zip file (eagle version 6.1)

as of the actual pc im not sure if i will use a raspberry pi or a via pico itx board for image recognition with open cv and ros if i can ever get my head round it