3D Printed Robot Dog Climbs Over Obstacles
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- เผยแพร่เมื่อ 29 ก.ย. 2024
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It’s the next part in the series for openDog Version 3. This whole project is open source, and the CAD and code are already published on Github. All of the mechanical parts are designed to be printed in PLA, and the main motor drives, of which there are twelve, are cycloidal drives which I developed over a few videos last year, each drive has two cycloidal discs and a lot of bearings.
There are three videos in my channel about building the project already which you can check out, but in this video, I’m going to make some minor mechanical changes, and attempt to make it walk more dynamically.
The main mechanical change I’m making is to the lower legs. I talked about the inverse kinematics in part 3 of the series.
This involves being able to position the foot in XYZ cartesian coordinates, and work back the maths to calculate each of the three resulting joint angles per leg to achieve the required foot position. To move the foot on a path we interpolate between the positions from point A to point B which means we basically scroll through all the positions on the way, so the foot moves in a straight line.
At the moment, the dog is walking by moving the feet to fixed positions on hard coded timers. The time it has to take a step gets longer as the step distance increases, but it has no sense of balance.
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XROBOTS
Former toy designer, current TH-cam 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.
A bit disappointed to hear that there won't be an open dog v4, but still eager for your projects every week!
sounds like a community project to me
although I love OpenDog and yes it's sad that there won't be v4
he still has options to revisit for 3.5
me personally am Subbed for the E-Bird videos hahaha
cuz that's what I want to build after he finishes the final version!
If I understand it correctly the problem at hand is that (in the beginning of the video without the dampening) all the legs always extend all the way.
So in order for the robot to be more stable it would need a way to tell if the leg touches the ground and not extend the leg any further.
Basically you would need to add "feeling" to the feet.
And if I am not mistaken you could add that feeling by measuring the current of the motors. As soon as the leg touches the ground and therefore puts mass on the leg the current of the motor should spike.
You have the relations T = k * I and F = T/(L*sin x) but I think the problem becomes hyper-static.
With four legs on the ground you would need 3 forces and 3 torques for each point of contact. At that point you need more data to solve for the forces.
If you could hook up some strain gauges to the legs you can solve for internal stresses and external forces, so yeah, force sensors pretty much required IMO.
10:00 and then one day for no reason, the robot uprising.
Really needs a ball park cost price, to set realistic expectations up front.
The Open Dog V3 videos seem to cut out in March 2022. Did something happen ?
Yes I did as much as I wanted on this version.
You were kicking so much, it is only right for the dog to get some karma. i was expecting you to drive it into yourself. Or how about programming in an action ... like lifting one of it's leg and spray oil. 😂
Fckn good! Great Job!
Print files and file list please.
OpenDog has come so far and it’s definitely been one of my favorite projects to watch on TH-cam
Man this guy is a super talented engineer.
With money. 😅 It's pretty experience to build this thing
@FelinoFacho He kicked catdog !!!
*skilled. Calling people talented downplays the time and effort it took to achieve this level of skill in any area.
@@needamuffin true
Skilled*
James's project is fully open source but the only one who can fully assemble it is him. Well done!!!
Now I want to build it, when you mentioned this.
Then again with the learning which comes from building open dog, One could gain good expertise in building robots.
@@Abishek_Muthian Couldn't agree more 😄
If I understand correctly, part of the project's goal is to make it possible for anyone to make this robot. Hence, saying that the only one who can assemble it is him is calling that part of the project a failure.
To that end, I think he's done a very good job on that goal. It's all off-the-shelf parts or FDM printed parts - even the cycloidal drive. All the off-the-shelf parts seem relatively easy to source and relatively inexpensive.
I could build it. But I don't have the money 😓😅
When real dogs walk, they use a 4 step sequence. Have you ever considered using a modified 4 step sequence vs. the 2x2 ? As fast as your joints move, it seems like you could reduce the tipping, or swaying, by only having 1 leg off the ground at a time. The modifications you made in this episode are amazing! Such a huge difference!
Would be interesting to see it try a couple different gaits other than Trot. Could it handle a Canter or even a Gallup?
Sample of different gaits: th-cam.com/video/PVvZKcKBTtg/w-d-xo.html
My thoughts exactly
not even Boston dynamics has done that yet lol
OpenDog is such a good project. Awesome work James, keep killing it!
awesome woof
i thought you were gonna say keep Kicking it 😂😂
you couldeven say its a good doggo.
And im glad james is giveing v3 plenty of walkies
Yes, this is what I needed at 1:00 AM, it’s not like I have a paper to write
There’s only one paper that can’t wait, and you’re not putting anything you want to read on that one ;) 💩
I would really like to see a project where instead of classical tuning and control, Machine Learning would be employed.
With most of your projects being described in a full 3D model, existing ML Models could be adjusted and trained on virtual simulations of a robot and then used in real life!
Not very easy to tell the AI what is "walking properly", even if, I guess, it could be done, by combinating horizontal speed and keeping the back flat as a "success" indicator.
@@GirardNicolas Yes that's one of a possible option of the basics of training AI. I think though that it's ripe now for James to try his hands on it, as not only has the science come far but open tools are available and this exact problem has been tried and solved multiple times in different ways for years now. Of course, it's up to James if that is interesting to him.
This is very related and shows how it is possible: th-cam.com/video/knIzDj1Ocoo/w-d-xo.html
And this is the cutting edge: th-cam.com/video/XM-rKTOyD_k/w-d-xo.html
And their robots have similar issues Open Dog V3 has like offset feet from shoulder joint.
Do you think a Jetson nano or other embedded ML chip would work, or would he need a dedicated computer to run the quadruped algorithms? I love this logical next step in opendog v3
@@richardsuckerson49 The hardware needs to be powerful enough to run the already trained algorithm. This usually scales with amount of data. With only internal data like the around 50 analog signals in the paper from 2020 it shouldn't need overly powerful hardware and Jetson Nano or other specialised hardware would probably even be overkill. Microcontrollers like most Arduinos don't fit for another reason though, the tools to run an algorithm need to be present for the platform.
Anyway, it definitely seems like classical tuning is hitting more and more diminishing returns in projects, that's why it came to my mind. Also, state machines came to their limits for robot kinematics years ago, so I would advise skipping trying to go in that direction.
This field can be a bit daunting if the tools and platforms are new to someone but most of them are pretty modern and there's documentation and communities and James already dived into that direction a while ago with vision applications.
@@GirardNicolas There are existing papers on this, it's been done quite well. Check out Two Minute Papers' channel if you want short summaries.
My girlfriend walked by and asked "Why is that robot walking on magic wand tips?"
I said "for friction" without thinking and we both laughed. 😂
James making open source sex toys when?
@@GingePlaysMinecraft Isint that already a thing? Just take the leg part, adjust code and add off balanced motor inside the magic wand tip...
Everything is a sex toy if you try hard enough.
@@Hellsong89 I'm pretty sure the print lines on that flexible TPU wouldn't feel great on your junk...
@@Hellsong89 I assume it is. Wouldn't that fall under rule 34? Lol
This reminds me so much of the Boston Dynamics dog, definitely up there in my top 10 favourite projects you've done. I hope he's a good boy and gets lots of hugs.
I feel like this sets a really good foundation for a AI robot dog, with the addition of some cheap sensors and cameras, you could do object recognition, avoidance, you could potentially even make it jump over obstacles if tuned properly (however dimensions may need changed a bit for that). Honestly, I would definitely get into this project myself if I had the time or knowledge.
Except the BD one moves like a real dog, or more like a graceful cat, instead of a drunken sumo on all 4's.
Its as if a whole department of professionals worked on it using careful maths and sensors to help it other than just stabilization.
Bro come on, if you can't see the similarities you need to re watch video, this is a community project, it gives people a good start to improve on it.
@@EnsignLovell Sure, fine, but no need to fangirl nutsack shine over the shortcomings and put it on a par with a $70k professional product.
If you review the video "Robot Dog Autonomous Functions you can see that's the way he is heading. That project adds in a Jetson Nano which provides some AI functionality. It could be augmented by addition of further sensors such as Lidar, GPS
Brilliant!!! I’d love to see an Open Dog 4 though! :)
Re-watching this 8 months later I'm still sad that there won't be a version 4. I loved watching the project develop and I think there is further development that could be done, but I also get that it could get stale
TODO: Growling when being kicked.
13:33 "I don't really want to..." Glad to hear you haven't put an end to the evolution of Robot Dog. Many thanks for the inspiration. 😃👍
There just looks to be so much opportunity for more evolution here, I'd love to see version 4, or higher!
What he's done is nothing short of amazing from a technical and gee-wiz point of view, but at the same time, the capabilities of the legs seem no more than could be achieved with a wheeled robot (MUCH easier!) the main reason to use legs like this is to be able to handle big obstacles, things like walking up a staircase. This robot isn't there yet, but I can see how it could easily get there with a bit more tweaking!
From what I've seen he seems more interested in making OpenDog a way of demystifying the sorts of robots Boston Dynamics have made, and making a technologically close equivalent, but built at a budget that doesn't make military contractors cry. Sure he could burn another small mountain of time, cash, and effort making a V4 that'd maybe have some better specs, but with the project being more about making it have stable-self regulated motion that adjusts to it's environment and has enough power to move around without cheating with bungees or using rigid code with no IMU home boy has knocked it out of the park, and now with it released into the wild I expect we'll be past the "LOOK I DID A SPOT" clones stage in a year or so and have folks doing some Real Cool Shit with OpenDog derived stuff in short order. Good on ya James!
This is so, so incredible. The most impressive 3d printed project I've ever seen.
Open dog 4 needs to be like the German Shepard or Doberman of the open dogs rather than the pitbull looking the last few have been. Taller, more joint movement, I mean it’s easier said than done but if anyone can do it James can…
This is very weird how much closer it gots from Spot in this video. It makes me hope that robots like that could be a lot less than 70k soon
Me *thinking quietly*: "Go home OpenDog, you're drunk."
James: "It looks a bit like it's drunk."
Well now I don't feel so bad about thinking that...haha. Great work as always James.
James can you tweak his gate to give him more ground clearance? I feel like you need a button that you press that just shifts to a "step over" walking gate where he maybe moves a bit slower and lifts his legs real high.
I was wondering that too, maybe just longer legs even? The main reason commercial robots go for legs is to be able to handle big obstacles like stairs, this robot isn't there yet. That said, what I see so far is absolutely amazing, I can't believe a hobbiest did this!
@@Green__one Yeah, longer forearm/shin segments, less elbow/knee bend, and hips angled inward to put the foot under the hip joint axis should give much better performance. Longer stride and less effort from the motors.
Been following the project since the beginning, I can't imagine how satisfactory this must be looking back. Amazing work!!!!!
Do you mean satisfying? Satisfactory means good enough but not particularly notable
Makes me respect boston dynamics even more now, this is difficult.
I think you could really nail the last few key details in one more iteration! I know these dogs are extremely challenging, but I vote you do one more hahaha. Wonderful work!!
This is an incredible amount of progress. I'm really impressed with how far you've gotten the robot to roll with a very straightforward control scheme. Have you explored implementing a gait engine? Are you trying to avoid adding software complexity or just trying to solve problems at the simplest implementation possible?
This is a fantastic project. It's starting to enter the uncanny valley where we start to judge it as a living creature which ought to have better control of its limbs. Now it seems clumsy, nervous, unaware of its situation and inefficient in its movements.
I think you have good enough sensors and mechanics, but I think the software needs attention next.
Why not start again almost from scratch with the software. remember the lessons you have learnt, factor out some fundamental things into common code, but start again with a new motion idea.
Two sources of inspiration come to mind:
1) chickens and other birds have an amazing ability to keep their heads in one place. Explore a motion idea that aims to keep the position of its sensors as still as possible. e.g. when you lift one corner, it tries to make itself heavier by not pushing on that leg, and when that is not enough it straighens the opposing legs.
2) Cats seems to be the most sophisticated and efficient movers. Start again again and try to behave like a cat. This time optimise for battery life and energy expenditure. That bent leg pose feels hard to sustain (imagine standing like that for 5 minutes) Cats feel like liquid when you pick them up, and when they walk across your desk they know exactly where everything is and place their feet efficiently and never knock things over. Make it so that at any moment it does the most quiet, efficient and aware thing to get to its next goal. Make it walk over those obstacles without kicking them around.
This is incredible! The performance on natural surfaces looks really close to commercial robots! Congrats!
Hey James, I wonder if you can teach your dog how to run / gallop?
Our cockapoo recognised it as a dog and started barking like crazy!
It would be interesting to see it with a one foot at a time gait. You'd be able to slow the legs down I think which visually might look better even if it might be slightly less impressive on a technical level.
I think it would be cool to add a load cell or pressure sensor in each foot, not for compliance but to be able to track where the center of mass of the dog is on the floor plane. That way you have some more data with which to decide where to place the legs and take steps for dynamic stability.
Also, beware of kicking open dog, seeing as you've already armed it with a turret and all...
Perhaps for opendog V4 maybe something smaller with just some super beefy RC servos? Theres some 30+ KGcm servos you could use on a dog maybe half the size, without any extra gear reduction. The mechanics would be simpler, and lighter. Might meet your goal of easily transportable and would be cheaper/easier to modify the mechanics like joint offsets, and let you focus on the walking algorithm.
You know one day it's going to kick you back.
Great video. Keep up the good work.
One question I have is wouldn't it make more sense to only move the legs when it needed them to be somewhere? like it can't really stand still as it is it seems
How it behaves on real terrain? For example uphill/downhill on a pile of rocks.
I think that it might have been a good plan to first program the inverse kinematics to support the robot as it moves via inertia. The legs should behave like a multidirectional wheel not adding any extra movement and letting it move with inertia. Basically only lifting the leg when its nearing the max range of motion of the leg and then putting it down on the opposite side with a distance from middle point under the leg to the edge of motion which depends on its velocity. The faster it moves to its maximum allowed velocity, the closer to the maximum range of motion in the moving direction should the feet be placed
Insanely cool vid as always good music too
Thats a 3D printed 2Dog Robot :D
11:13 Your fence looks like a texture error xD
It’s almost 1 am where I am. I need to go to sleep but this is more important.
Крутой робот !
i dont think i could assemble this with my little experience, but it makes me want to try to design my own, more simple robot, and slowly work up to making something like this
Nice work using accelerometer data to stabilize the robot! Have you considered using aliexpress actuators for opendog 4? They're based off the actuator in the mit mini cheetah. I would suggest a RMD X8 pro or RMD X10.
I don't know if you did it on purpose but, it was cool the way it managed to step to the beat of the music. I've never really heard somebody explain with such great detail, every movement takes a lot thought. Thank you.
So... Freaking... Awesome!!
Remarkable and inspirational. The work you have done on your projects, has pushed the boundaries of what most people thought, could be done with 3-d plastic printing and off the shelf electronic modules. Your thoroughness in creating proof of concept and prototype models is exemplary.
Excellent! I would be interested to see a digitgrade back leg version like a natural dog. You can still use the same number of motors, just use a connecting rod from thigh to ankle to move the foot.
Yeah, it's always bothered me that nobody ever copies the obviously more successful 3-segment hind leg design, yet most biped robots use 3-segment legs when humans do fine with two (birds do use 3, but mostly for higher ground clearance for wings). Though I suppose it wouldn't really make that much difference since they're mainly better for running, and most robots can't run due to excessive weight and/or inadequate software.
this is absolutely phenomenal your work is incredibly impressive and the fact it's all open source is truly amazing
Wow... somehow your explaining makes the Boston Dynamics robots much less impressive...
Alright I guess I have to start printing then... it's been long enough.
would you have any success with lifting only one foot at a time? I feel like the short steps are really hurting the final product and distracting from the actually impressive engineering that went into it.
I'm amazed at how you manage to keep improving your robots, fantastic designs!
Very impressive, especially as it's largely 3D printed. Don't get me wrong, as a technical exercise it shows how he can can come up with some brilliant and very complex mechanisms, and apply them to a problem. Just because he can, and enjoys doing it. But that complexity is also it's biggest weakness. 12 big cycloidal motors, 6 controllers and a hundred bearings for each motor? But then he glued the silicon feet directly on to expensive carbon fibre tubes, rather than using a jubilee clip or a simple screw. And his "belt tensioner" was a fixed wheel that would have to be replaced as the belt stretched. Simple, cheap, spring loaded tensioners have existed since at least Victorian times. As the great engineerinv genius Colin Chapman used to say, "simplify and add lightness".
Well done James, very impressive, great stability, as good as BostonD's early versions which must have cost 10's if not 100's of millions with a whole team.No more dogs. What next, two legs ?
Stair climbers, I like the snake format, or beatles, they are relativley successful, push legs at the back, balance legs in the middle, climbing legs at the front. Whatever you choose it will no doubt be very well thought out and executed. Like the idea of compliant drives.
Would it make sense to add multiple stepping patterns for different move speeds, like horses have? when moving slow just moving one foot at a time, that way you could navigate really smooth without balancing issues.
Right now you only have "trot", with mirrored diagonal pairs of legs, you could add "walk" for slower and maybe one of the running patterns for, well, running?
That joint not being on axis seems to be the biggest mess in the way it moves. Kinda reminds me of early BD stuff (no longer on TH-cam) where they were wobbly as a newborn colt. IMO, you should either get rid of that entirely, or offset the position using a piece of carbon fiber (maybe buy a big ~15 cm OD carbon fiber ring off-cut, and use four sections of it to move the leg under, it would also give more flexibility to the leg, naturally).
I wonder how difficult LiDAR or ecolocation would be to implement.
A six legged version of this could just use the "subsumption architecture" developed by RA Brooks at MIT
Very good James but I can't help feeling that this is the start of something menacing. Like that Black Mirror episode " Metalhead ". Please don't start building robot dogs out of metal.
Your projects are on another level!
Boston Dynamics has nothing on you.
They should fear you...
Can you build a beach beest with independent leg placement so it can walk over 'any' terrain, besides flat beach??? Rino pacifically...
Have you heard of a "Reverse Footlock?"
If you ever want to do more complicated feet than single-point contact, in the Animation job known as Rigging, which is setting up characters for animation, a Reverse Footlock is a technique we use employing additional theoretical joints and an extra IK chain to keep a series of joints flat on the floor only where low enough to remain in contact, so the heel can peel up and move around independantly during toe-only contact, despite being the primary point of contact itself, using joints and IK that flow reverse to the original foot.
That's as best as 2-year-out-of-work teacher can explain it on a TH-cam comment to anyway.
I'd recommend you watch any TH-cam tutorial on the process being done in Maya, for a better understanding though, unless this process is already documented for robotics somewhere, but I've not seen any robotics that weren't Disney that seemed to take any lessons from animation (and holy crap are Disney's robotics advance! You should check out their TH-cam channel).
But essentially the constraints and theoretical additional joints to add should be translatable to code, once you understand the basic sequence of hierarchy and value transfers to make it happen. Hell, I used to prefer to code them than use the interface in the end anyway. Rigging in Maya uses MelScript and Python.
Might need an extra controller in each heel though eh? :P
James has Started Kicking his Dog (well that sounds wrong) his Mechanical Robot Dog (Better)
what comes next, going uphill, into the Mountains, make him restart if he falls over and make him stand up from itself, and also balancing to the side if did roll over (I think this would be the best to start next), or do we start fit the A and I System,... Cant wait
Instead of filtering the IMU data, how about using PIDs on each axis; translationally offsetting the feet position to zero-out accelerations in the local (body-relative) horizontal plane, and rotationally offsetting the positions to keep the body parallel to an imaginary ground plane calculated based on the direction of the g-forces, and zero-out the rotation speed around the yaw axis?
edit: Oh, and maybe also take in consideration the center of gravity of the dog, aiming to keep it always above the midpoint of all the feet that are touching the ground, using the direction of the g-forces as a reference for what's the vertical axis.
You don't need filtering on accelerometers, you need proper sensor fusion (6 or preferably 9 axis) so that you can discriminate linear acceleration, rotation and gravity. Adding more filter just also increase the delay as much, you are not going anywhere to eliminate oscillations. (I'm writing at the same time as watching the video, seems like you already thought about it ;) ).
You have range of motion to lift or straighten the legs more right? Jumping, running, going over higher objects is possible right?
I can’t wait to see how this technology advances. My gf wants a dog in the future and I personally don’t like dogs, but with something like this and some AI to make it kinda just a Smart roomba I think that could be really cool
Please make open dog four! We love open dog. Would you consider going smaller? Molded parts for gear assemblies? A belt through to the shoulder to articulate the knee driven in the shoulder housing. The whole shoulder assembly rotating on a carrier for the pitch control. And finally a counter lever roll assembly for the shoulder. I know it's identical to spot... But some problems just don't have a wide variety of ideal solutions. It's not possible to build a dog spots size 3d printed that will hold up to what use can throw at it. But it is possible to build one half his size. With as many single shelled parts as possible.
The dogs fantastic! It's movement is very inefficient tho, with better software that thing could jump, sneak along etc.. maybe some really good environmental sensors on and underneath would help with the plotting of steps over varied terrain..
Once you've got that, the cheaty way to get it moving like a pro might be to emulate it as a game sprite as accuratly as possible an then neural network evolve AI for it.. still no simple feat but likey to solve many issues... big well done open dog3!
It would be awesome if you could make it jump! First in place then more and more complex. How high would its vertical be?
I think you can solve the rotation at slow step rates with kinematic cross-coupling of the motor torque. I.e. if the leg position and motor torque is pushing against the ground with 100N, then add enough torque to the shoulder joint to balance that 100N on the ground. Put another way, you have enough info in your robot to make a simple inverse model that takes leg position and robot weight and outputs an "ideal" joint torque. Add this into the output of the PID and then it will be doing less command tracking and more disturbance rejection.
Can you like try different gaits before making any more mechanical redesigns? As for redesigns, you might need to relocate the waist motors to just above the legs. Yeah, it'll make the dog taller and probably wider but that would be mechanically more stable in a standing position.
a) hello
b) congratulations in general
c) stupid question:
why you made the legs so short ?
if you made them longer, would it need a different engineering or software approach ?
thanks
Have you seen an anime called rideback? If you haven't I strongly recommend you to do so. There's this awsome bikes called rideback which are a combination between a bipedal humanoid robot with wheels by feet and a motorcycle.
How about using neural networks with reinforcement learning instread of manually programming the movement? I would of course require a working digital model of the dog but that should not be impossible.
Our counterweapon against future boston dynamics police/army robots😅✌️
Do you know what it's maximum carrying capacity is? Probably not enough to sit on, but could it carry a small child, for example?
You will have to refine your feedback loops but it's almost perfect! For the stairs you now need a Lidar....
this is a fantastic project that gives me a lot of questions. The main one is : what would it takes to make it move more like a living animal ? Why is it only doing weird "little" steps and not smooth natural ones ? Also, did you considered reinforcement learning , even as a test ?
Articualte it at the waist. Just roll should suffice. Uncontrolled, with stops. I bet a little slop in the hips would go a long way. It's certainly something that's missing in those quarter million dollar robodogs.
Is this project no longer under development? What about lidar for navigating curbs and stairs?
Why not use something akin to the bent lower legs of the v2 to offset the displaced hip joints? It wouldn't even require a full redesign, but the software might need some adjustment.
I'm just a mechanic, but I think you should try to make it stop taking steps when it doesn't want to go anywhere. This kind of an idling walking in a same spot is really unnatural and it takes a lot of energy. Just make it balance when it doesn't go anywhere. You know like a dog. :D
Wow I love that robot, it looks heavy despite the light material. That's Fantastic
This is truly incredible. Amazing work.
I like the wheel vids but I am really looking forward to open dog v3
This is absolutely magnificent engineering, I love this robot. To be fair, I would love to buy one. Do you want my money?
Is this strong enough to carry something heavy, like a pulse cannon? Asking for a friend...
Request: Do a small biped. Always liked the small robot from AI. Open Ted!
Have you considered the type of flexible blade foot you see on kangaroo boots or prosthetics? Could be another passive form of damping.
if you're on the lookout for a new project, might be a lot of interest just now in a cheap & cheerful 3D-printable remote-controlled rifle tripod? perhaps with AI person recognition?
i'm a firm believer that dynamic robots of the future won't have control systems that are programmed and tuned... but rather will have neural networks where it is trained to walk (or whatever else dynamic motions it needs to do). Obviously this is much easier to train if you have a high-fidelity simulation and can run millions of runs to tune the network. But it would be really cool to see if you could do a project where just the raw inputs of the sensors go into a neural network with multiple layers and it is given a goal and allowed to try to learn its own algorithms for accomplishing each goal (perhaps with multiple factors being weighted such as time taken, power used, minimizing joint rates, etc.).
You know, the gait of open dog is so shallow, it makes me think that if you extended the legs by 50% to 75% it might perform a bit better in both balance and speed. Also, you could make these edits on your existing open dog to test the theory.
I was hoping for a rideable open dog 4 :( I'm keeping my fingers crossed for an omni-wheel skateboard.
Bruton dynamics
Please do open dog 4. Make it the last one fine. But hit all the stops. Make it as responsive at possible. Even maybe animate it with a animatronic dog body. If anyone can do it you can! I wanna see a badass robot dog that can go up stairs and looks like a futuristic robot dog.
Is Open Humanoid in your future? 2 legged upright 3d printed 1.5 meters tall or so?
Are the robot dog CAD files available somewhere in a format actually openable by a 3D slicer?