Project Sharik
Project Sharik
(Boston Dynamics Spot Prototype)
The Spot Micro Quadruped Project is an open-source initiative focused on developing a four-legged robotic platform inspired by advanced quadruped robots. Designed for hobbyists, researchers, and educators, this project provides a comprehensive software and hardware framework for building and controlling a 3D-printed quadruped robot. The system leverages the Robot Operating System (ROS) to enable modular development and integration of various control, perception, and simulation components.
At its core, the project combines Python and C++ ROS nodes to implement motion control, state management, and sensor integration for the Spot Micro robot. The software supports a range of functionalities, including walking gaits, orientation control, and mapping through SLAM, all running on a Raspberry Pi 3B with Ubuntu 16.04 and ROS Kinetic. The modular architecture allows users to extend the robot’s capabilities, such as adding a lidar for mapping or integrating a camera for vision-based tasks.
The hardware platform is based on a 3D-printed frame, standard servos, and off-the-shelf electronics, making it accessible and customizable for a wide audience. Detailed documentation guides users through assembly, calibration, and software setup, ensuring a smooth onboarding process. By providing both the source code and hardware instructions, the Spot Micro Quadruped Project aims to foster innovation and learning in the field of legged robotics.
Stage Zero
Platform
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AlphaBot2 Video Smart Robot Powered By Raspberry Pi 4
- Maybe get two???? TOO SMALL…
Arm
Face
Additional Equipment
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Inexpensive Prototyping 3D Printer
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????
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We’ll use a 3rd party 3d printing vendor for now.
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A head start
Like minded open-source believers:
AI Training for Digital Representation and Robot in real space:
https://genesis-embodied-ai.github.io/
Supplementary Resources
Stage Zero.2
Platform
Google Coral Dev Board
The Dev Board is a single-board computer that's ideal when you need to perform fast machine learning (ML) inferencing in a small form factor. You can use the Dev Board to prototype your embedded system and then scale to production using the on-board Coral System-on-Module (SoM) combined with your custom PCB hardware.
Performs high-speed ML inferencing\
The on-board Edge TPU coprocessor is capable of performing 4 trillion operations (tera-operations) per second (TOPS), using 0.5 watts for each TOPS (2 TOPS per watt). For example, it can execute state-of-the-art mobile vision models such as MobileNet v2 at 400 FPS, in a power efficient manner. \
See more performance benchmarks.
Provides a complete system\
A single-board computer with SoC + ML + wireless connectivity, all on the board running a derivative of Debian Linux we call Mendel, so you can run your favorite Linux tools with this board.
Supports TensorFlow Lite\
No need to build models from the ground up. TensorFlow Lite models can be compiled to run on the Edge TPU.
Supports AutoML Vision Edge\
Easily build and deploy fast, high-accuracy custom image classification models to your device with AutoML Vision Edge.
Scale from prototype to production\
Considers your manufacturing needs. The SoM can be removed from the baseboard, ordered in bulk, and integrated into your hardware. You can purchase the SoM separately here.
Nvidia Jetson Nano Developer Kit and Modules
Nvidia Jetson Xavier NX Module and Developer Kit
Stage Zero.3
Locomotion
Additional Equipment
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CNC Router station for prototyping/fabricating metal parts
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Production Ready 3D Printer for prototyping/fabricating plastic parts
- Formlabs Form 3L
Eliminate the turnaround time of outsourcing or the manual work of assembly for large scale 3D prints. The Form 3L offers a massive build volume at an unprecedented value.
- Formlabs Form 3L
HEIGHT WIDTH DEPTH
11.8 in 13.2 in 7.9 in
30 cm 33.5 cm 20 cm
Potential Future
The world’s most dynamic humanoid robot, Atlas is a research platform designed to push the limits of whole-body mobility. Atlas’s advanced control system and state-of-the-art hardware give the robot the power and balance to demonstrate human-level agility.
3rd Party Research
Sharik, is a fictional dog in Mikhail Bulgakov's novel Heart of a Dog
Moscow, 1924. While foraging for trash one winter day, a stray dog is found by a cook and scalded with boiling water. Lying forlorn in a doorway, the dog awaits his end awash in self-pity. To his surprise, a successful surgeon, Filipp Filippovich Preobrazhensky (whose name is derived from 'transformation' or 'transfiguration'), arrives and offers the dog a piece of sausage. Overjoyed, the dog follows Filip back to his flat, where he's given the name of Sharik.
The dog finds it ironic, as he sees 'Sharik' fit for a pampered fat dog (it means 'little ball').
