If the pi cant find the joystick after a minute or two, its possible that the pis bluetooth controller was never turned on. This is what the output should look like: and check the wlan0 portion to check if you have an IP address and other debugging info. Note that address down. Stanza: una biblioteca Python NLP para muchos lenguajes humanos La biblioteca oficial de Python NLP de Stanford NLP Group. stanfordroboticsclub / Pupper Public Notifications Fork 27 Star 44 Code Issues Pull requests Actions Projects Security Insights master 1 branch 0 tags Code 39 commits Failed to load latest commit information. However, modifying the wpa_supplicant file Log in to the Pi over SSH. Video of pupper in action: https://youtu.be/NIjodHA78UE Project page: https://stanfordstudentrobotics.org/pupper Documentation & build guide: https://pupper.readthedocs.io/en/latest/ before touching the real robot. You can watch U.S. TV stations affiliated with the NBC, CBS, ABC, PBS, Fox, and CW networks. GitHub - stanfordroboticsclub/Pupper: Build instructions and code documentation for the Stanford Pupper project. Stanford Pupper Quadruped Open-Source Educational AI Robot (Complete Kit) Stanford Pupper is a small quadruped robot that can hop, trot, and run around. MangDang 1 Campaign | Kowloon, Hong Kong $578,911 USD by 1,033 backers $499,616 USD by 915 backers on Oct 29, 2021 with another platform See Options Follow Story FAQ Updates 15 Comments 42 Looking for more information? When prompted for the password, enter the default password raspberry or the one you set in the install_packages.sh script. If the IP is still 10.0.0.10 you will be prompted to change it. 5. Verify everything is working 7. Put the SD card into your desktop / laptop. Pupper can be built from the ground up in under 8 hours . [For Stanford Student Students] Get internet access at Stanford, Installing the StanfordQuadruped software on the Raspberry Pi, https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip, Raspberry Pi 4 power supply (USB-C, 5V, >=3A). Contiene soporte para ejecutar varias herramientas precisas de procesamiento de lenguaje natural en ms de 60 idiomas y para acceder al software Java Stanford CoreNLP desde Python. If youre having trouble SSH-ing into the Pi, please check the instructions for setting the Pis ethernet settings linked in the previous step. Main documentation: https://pupper.readthedocs.io/en/latest/. Select 2019-09-26-raspbian-buster-lite.img (file inside zip )and the SD card. The raspberry Pi IP should not be the same as your computers IP, 10.0.0.Y. To put it into pairing mode, hold the share button and circular Playstation button at the same time until it starts making quick double flashes. You can find the bill of materials, pre-made kit purchasing options, assembly instructions, software installation, etc at this website. Power-cycle the robot 6. You can also see this link. You can skip to the next step if youd like to automatically set the time and date. License. https://stanfordstudentrobotics.org/pupper, https://github.com/stanfordroboticsclub/StanfordQuadruped/issues/new/choose, https://groups.google.com/forum/#!forum/stanford-quadrupeds. Last updated December 6, 2022 If you are using the recommended etcher, this is the start-up menu. Stanford Quadruped Overview This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump. The joystick interface is responsible for reading joystick inputs from a UDP socket and converting them into a generic robot command type. Documentation: https://pupper.readthedocs.io/en/latest/. You will be asked to enter the current time and date. The output varies depending on the order of you running various programs, but just check that it doesnt have any red text saying that it failed. You can imagine that if the swing controller only put the leg forward 0.15m, then every step the foot would lag more and more behind the body by -0.05m. Clone this repo (on the Pi) 4. Introduction. However, you can purchase a kit to build the robot from either MangDang or There are two methods for getting internet access: using the raspi-config tool on the Pi or Go to Network Options, then Wi-Fi and enter your SSID (Wi-Fi name, eg. Build instructions, bill of materials, CAD, etc, Code repository: https://github.com/stanfordroboticsclub/StanfordQuadruped, Build time: ~ 8 hours depending on expertise. Because the password is kept unchanged (raspberry) ssh is only enabled on the ethernet interface. Move all the files in the downloaded repository into the SD card. robot enthusiasts in K-12 and beyond to get their hands on fun, dynamic robots. Project Goals We initally set out to create a robot that could freely move around an enviroment autonomously and seek out visual targets without colliding with any . The touchdown locations are selected so that the foot moves the same distance forward in swing as it does backwards in stance. (Community Award winner at USENIX NSDI 2020) for more information. There was a problem preparing your codespace, please try again. If your Pi does not boot, please try going back to step 3 Use etcher to flash the card and use this version of Rasbian instead: https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip, Run ssh pi@10.0.0.10 (The default password is raspberry). Connect to the Pi over SSH 2. Inside, you can see four primary components: a gait scheduler (also called gait controller), a stance controller, a swing controller, and an inverse kinematics model. Please check out both vendors to see what fits your needs best. Try removing the SD card and putting it back in, if the problem persists. This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump. Weve personally verified the quality of both vendors. The swing controller picks up the feet that just finished their stance phase, and brings them to their next touchdown location. The robot features torque-controllable brushless motors with high specific power that enable testing of impedance and torque-based machine learning and optimization control approaches. Tech Specs: Check the project FAQ Code in Place was a great, uplifting, learning experience and over 10,000 students learned how to code in python. Sets the Pi to connect to the robot network (10.0.0.X) over ethernet, Prepares to connect to Stanford WiFi (see above for details), Gives the script to install tools and repos needed for development. There's no charge. If you just powered on the Pi, wait about 30 seconds until the green light stops blinking. This is reflected by the increase in universities with quadruped as well as more DIY quadrupeds being created by the general population . MangDang Created by MangDang 915 backers pledged HK$ 3,904,382 to help bring this project to life. Unplug the battery, wait about 30 seconds, and then plug it back in. 3. Edit /etc/wpa_supplicant/wpa_supplicant.conf as documented in this link , see Adding the network details to the Raspberry Pi. Check that it has access to the internet. Connect power to the Pi as well. Buying a kit instead of purchasing the parts yourself will most likely save you money. Unzip and extract the file. Pupper is a 2kg open source robot designed for both research and education. Use Git or checkout with SVN using the web URL. The third component of the code, the hardware interface, converts the position targets from the controller into PWM duty cycles, which it then passes to a Python binding to pigpiod, which then generates PWM signals in software and sends these signals to the motors attached to the Raspberry Pi. It looks at the desired robot velocity, and then generates a body-relative target velocity for these stance feet that is in the opposite direction as the desired velocity. A detailed model of the controller is shown below. Connect the PS4 controller to the Pi by putting it pairing mode. If you purchase the parts yourself, itll run you sign in The robot code is run as a loop, with a joystick interface, a controller, and a hardware interface orchestrating the behavior. You can watch U.S. TV stations affiliated with the The robots brain is a Raspberry Pi 4 computer, which receives commands from a wireless PS4 controller and controls the servo motors, three per leg, Confirm that the terminal prompt ends with (rw) instead of (ro). 1. Enter the URL to this GitHub repository, then select the TemplatePackage package to install. There's no charge. Open the file called interfaces in a text editor. No description, website, or topics provided. Mini Pupper has been launched on the Stanford Pupper website, endorsed and highlighted by ROS foundation, and is one of the finalist on Hackaday's 2021 Price . Here, Y is the IP address you chose for the Pi when running the install_packages.sh script. We hope that its low cost and simple design will allow In the welcome message that comes after the login line, look for the Pis MAC address, which will appear under the line that says wireless Hardware MAC address. Stanford Pupper A four-legged robot for research and education Overview. Replace any files that conflict so the repositorys version overwrites the original version. The gait scheduler is responsible for planning which feet should be on the ground (stance) and which should be moving forward to the next step (swing) at any given time. Stanford Pupper is an quadruped robot designed to help K-12 and undergraduate students get involved in exciting robotics research. Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts, and beyond. This diagram shows a breakdown of the robot controller. Learn more. This is the menu that will appear. Copyright 2020, Nathan Kau, Abi Lopez You can also buy the parts yourself using the provided bill of materials. Puffer is a research project in the computer-science department at Stanford University. https://github.com/stanfordroboticsclub/StanfordQuadruped. Stream live TV in your browser. For more information, please refer to GitHub Repository MiniPupper. You signed in with another tab or window. Are you sure you want to create this branch? If you forgot what the Pis IP address is, turn off the Pi, take out the SD card and put it in your computer. Follow the on-screen instructions to add another device: Confirm that the Pi is connected to the network: Wait for an email (to your Stanford email) that the device has been accepted, After its done rebooting, type ping www.google.com and make sure you are receiving packets over the network. The robot features torque-controllable brushless motors with high specific power that enable testing of impedance and torque-based machine learning and optimization control approaches. . NBC, CBS, ABC, PBS, Fox, and CW networks. Check the status for the joystick service, If you havent yet connected the PS4 controller, it should say something like. high level behaviors like playing fetch or following you around. Revision 9c556d02. As shown in the diagram, the gait scheduler can be thought of as a conductor for each leg, switching it between stance and swing as time progresses. Run rw in the robot shell. Pupper Stanford Student Robotics Cost: $600-$1000 if you source the parts yourself, otherwise cheaper if you purchase a parts kit. The robot is designed to be hacked we want you to be able to adjust and expand the robots behaviors to your hearts content. A tag already exists with the provided branch name. Para obtener informacin detallada, visite nuestro sitio web oficial. Ver Este Plugin simpler and recommended for beginners. If nothing happens, download GitHub Desktop and try again. Github; Remodel of Stanford Pupper v2.0 and Integration of Baseline Controller. to use Codespaces. If the hostname is still raspberry you will be prompted to change it. on a computer or an Android phone or tablet. run around. Please see the FAQ and our Cost: $600-$1000 if you source the parts yourself, otherwise cheaper if you purchase a parts kit. You can get one at a low price now. For more. Comment out the ListenAddress lines from /boot/appliance/etc/ssh/sshd_config to enable it on all interfaces. Stanford Pupper 57,600 views Mar 2, 2020 477 Dislike Share Save Nathan 615 subscribers Pupper is an open-source quadruped robot that costs about $800 to build in total. The main program is run_robot.py which is located in this directory. Video of pupper in action: https://youtu.be/NIjodHA78UE, Project page: https://stanfordstudentrobotics.org/pupper, Documentation & build guide: https://pupper.readthedocs.io/en/latest/. If youre not on Stanford campus, using the raspi-config tool is Mini Pupper supports not only Melodic but also Noetic. Mini Pupper: Open-Source,ROS Robot Dog Kit by MangDang Kickstarter Mini Pupper: Open-Source,ROS Robot Dog Kit Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts and beyond. If nothing happens, download Xcode and try again. Build instructions, bill of materials, CAD, etc Code repository: https://github.com/stanfordroboticsclub/StanfordQuadruped Build time: ~ 8 hours depending on expertise Actuators: 12 x JX Servo CLS6336HV Sometimes it takes some time for your computer to read the SD card and show the boot folder. If it starts making slow single flashes, hold the Playstation button down until it stops blinking and try again. While the robot can walk out-of-the-box, some of the features you could add include different gaits (bounding, galloping, etc), or Stanford Pupper Watch on The robot's brain is a Raspberry Pi 4 computer, which receives commands from a wireless PS4 controller and controls the servo motors, three per leg, to move the feet and body to the right places. The swing controller will then move the feet forwards 0.20m to put the foot back in its starting place. Setting up your Raspberry Pi Raspberry Pi 4 SD Card (32GB recommended) The robot is designed to be "hacked" - we want you to be able to adjust and expand the robot's behaviors to your heart's content. We hope its low cost and simple design will allow robot enthusiasts in K-12 and beyond to get their hands-on fun, dynamic robots. Thanks to pi-init2 magic that file can be edited before the pi is ever turned on from /boot/appliance/etc/wpa_supplicant/wpa_supplicant.conf. the instructions in the next section instead since there are special requirements. Kits: Both Cypress Software and MangDang sell part kits and pre-assembled robots. Cypress Software for cheaper than what it would cost you to get the parts yourself. Both vendors sell a variety of types of kits, from partially complete to fully assembled. Copyright 2020, Nathan Kau, Abi Lopez This project is developed as part of the Stanford Byers Center for Biodesign at Stanford University. See Licenses for more information. 2. Mini Pupper is a dog-shaped robot that is aimed at stimulating and empowering your creativity. This is done by using an inverse kinematics model, which maps between cartesian body coordinates and motor angles. Done! docs Use this version so everyone is using the same version. Use another computer to navigate to iprequest.stanford.edu. Pupper can be built from the ground up in under 8 hours . We present Stanford Pupper, an easily-replicated open source quadruped robot designed specifically as a benchmark platform for legged robotics research. Part Sourcing Stanford Pupper 2020 documentation Part Sourcing Pre-Made Kits Two small businesses are now selling Pupper kits. Stanford Pupper Watch on The robot's brain is a Raspberry Pi 4 computer, which receives commands from a wireless PS4 controller and controls the servo motors, three per leg, to move the feet and body to the right places. Installing the StanfordQuadruped software on the Raspberry Pi Steps 1. Stanford Pupper (with low cost) 1,879 views May 23, 2020 35 Dislike Share Save MangDang 1.07K subscribers Pupper is an amazing quadruped robot. In June 2021 MangDang released Mini Pupper, a commercial educational quadruped robot inspired by Stanford Pupper and in light collaboration with Nathan Kau, the original creator of Stanford Pupper. It also incorporates turning, in which case it rotates the feet relative to the body in the opposite direction as the desired body rotation. The controller does the bulk of the work, switching between states (trot, walk, rest, etc) and generating servo position targets. On line 19 it should show the IP address as address 10.0.0.x. Puffer works well in the Chrome, Firefox, Edge, and Opera browsers, on a computer or an Android phone or tablet. Work fast with our official CLI. Then open the sd card folder and go to the folder: boot/appliance/etc/network/. Netgear, Linksys) and password. about $900-$1000. Please This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. has the benefit that you can set the proper internet settings without SSHing into the Pi. You can also simulate the robots motion in PyBullet Plug your Pi in to power (over the onboard micro USB port). Quadrupeds have steadily become a more standard technology in robotic field. The robot is designed to be "hacked" - we want you to be able to adjust and expand the robot's behaviors to your heart's content. Configure your computer to SSH into the robot, 4. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Puffer does not work on iPhones or iPads or in the Safari browser. Revision 9c556d02. Puffer does not work on iPhones or iPads or in the Safari browser. We present Stanford Pupper, an easily-replicated open source quadruped robot designed specifically as a benchmark platform for legged robotics research. Test for the internet connection. 6. Download the latest release of the RPI-Setup repository. For example, if in stance phase the feet move backwards at -0.4m/s (to achieve a body velocity of +0.4m/s) and the stance phase is 0.5 seconds long, then we know the feet will have moved backwards -0.20m. If youre on Stanford campus, please follow different options so check both of them out to see what works for you. Puffer works well in the Chrome, Firefox, Edge, and Opera browsers, Go to your network settings for the interface you wish to use (ethernet/wifi), Change your IP Address to something in range 10.0.0.X (If you are a part of Stanford Student Robotics pick something that doesnt colide with other systems from this, After disconnecting from the robot network remember to return those settings to what they orignially were, otherwise your internet on that interface wont work. Puffer Stream live TV in your browser. This project is licensed under the MIT License. As a team we set out to build the Standford Pupper robot and see how far we could extend the software, hardware and overall functionality of the system over the course of a semester. You can now delete the zip file and the now empty folder. In 2020, at the start of the pandemic, as an act of community service over 900 teachers from around the world came together to offer a first-of-its-kind volunteer-led course called Code in Place, hosted by Stanford University. In a trot for example, the diagonal pairs of legs move in sync and take turns between stance and swing. That's why we are not presenting it as a closed project that can't evolve from here. On the contrary, Mini Pupper leverages Ubuntu and ROS to operate its FSN (Full Self-Navigation) System. We hope that K-12 and. To get started, check out the pages linked below on part sourcing and assembly. changing the wpa_supplicant file on the SD card before inserting it into the Pi. It's convenient to work in cartesian coordinates for the stance and swing planning, but we now need to convert them to motor angles. research paper The stance controller controls the feet on the ground, and is actually quite simple. Our target is NOT the cheapest robot dog, but the BEST robot dog for education at an acceptable price. Once the controller is connected, check the status again. Contributors. While were not affiliated with either company, weve verified both of their kits. Stanford Quadruped Overview This repository hosts the code for Stanford Pupper and Stanford Woofer, Raspberry Pi-based quadruped robots that can trot, walk, and jump. The two vendors sell A separate program, joystick.py, publishes these UDP messages, and is responsible for reading inputs from the PS4 controller over bluetooth. Stanford Pupper is a small quadruped robot that can hop, trot, and to move the feet and body to the right places. Published: September 11, 2022. Run sudo hciconfig hci0 up to turn the radio on. Both the stance and swing controllers generate target positions for the feet in cartesian coordinates relative the body center of mass. These motor angles, also called joint angles, are then populated into the state variable and returned by the model. It uses high power, torque-controllable actuators which makes it perfect for testing novel control approaches, but at the same time, it's small, easy to build, and inexpensive. Video of pupper in action: https://youtu.be/NIjodHA78UE Project page: https://stanfordstudentrobotics.org/pupper Documentation & build guide: https://pupper.readthedocs.io/en/latest/ Then restart the pi. Enables ssh. Remove SD card from computer and put it into your Raspberry Pi. To use ethernet for set up (recommended), connect the ethernet cable to your computer and the raspberry pi. Install requirements (on the Pi) 5. 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